Progress Blog

Session: July 23-24

Session: June 19

Refactored Toter mode code
Followed state-transition coding. Introduced states for each case
MERGED TOTER CODE WITH SOCKET COMMUNICATION
- Used pickle module to send receive list

Session: June 17

Test sample client-server code from: https://www.youtube.com/watch?v=PYBZtV2-sLQ&t=622s
- Laptop is both client and server
Test code in raspberry pi (as server)
Modified setup: Erle brain - client code, RPI - server code

Session: June 10-11

Played around with dronekit python. Tried modifying mission_basic.py in attempt to merge auto and loiter

Session: May 28

Setup sitl for windows (to try changing of mode via dronekit)
Followed tutorials:
- http://ardupilot.org/dev/docs/sitl-native-on-windows.html
- http://ardupilot.org/dev/docs/building-setup-windows-cygwin.html#building-setup-windows-cygwin
git clone https://github.com/ardupilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive
Build ardurover:
- https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md
- ./waf list_boards
- ./waf configure --board sitl
- ./waf list
- ./waf rover
- Output in /build/sitl/bin/ardurover.exe
Run sitl:
- cd Tools/autotest/
- python sim_vehicle.py -v APMrover2
MavProxy started
- Connected to tcp:127.0.0.1:5760
Wrong home loc
- python sim_vehicle.py -v APMrover2 -l 14.1622,121.242,584,353
- MavProxy started
  - Connected to tcp:127.0.0.1:5760
Open Mission Planner: connected
Test dronekit code
- On CMD: python simple_goto.py --connect udp:127.0.0.1:14551
  - Contains GUIDED mode to a single point
- Arming fails
  - Set ARMING_REQUIRE to 0
SUCCESS!
Up next: retrieve GPS data during mission

Session: May 7

Setup network configuration for Odette and jedidiah
Through Erle Brain’s Odette-wifi:
- ssh thru erle
- Check /etc/hostapd/hostapd.conf
- In /etc/dnsmasq.conf increase dhcp-range to allow more than one connection:
  - Change dhcp-range
In jedidiah:
- vncviewer <rpi-ip>:1
- Edit etc/network/interfaces
- Comment original iface block
- Insert:
  - iface wlan0 inet static
    - wpa-ssid Odette-Wifi
    - wpa-psk <password>
- Reboot
To test:
- vncviewer <erle-ip>:1
Success! RPi connects to Odette-wifi on startup

Session: March 20

Tune speed and throttle and steering: http://ardupilot.org/rover/docs/rover-tuning-throttle-and-speed.html
Preliminaries:
- Change Switch 8 to Acro > Manual > Loiter
Tuning Steps:
- Throttle/Speed Tuning
  - Manual > Run throttle > Switch 5 > Check CRUISE_THROTTLE and CRUISE_SPEED
  - Config > Full Param Tree > GCS_PID_MASK = 2 > Write Param
  - Flight Data > Tuning checkbox > Double click on graph > Select pidachieved and piddesired
  - Acro Mode > Drive up and down > See red vs blue line
  - Config > Basic Tuning > Increase P and I together
- Turn Rate Tuning
  - Config > Full Param Tree > GCS_PID_MASK = 1> Write Param
  - Flight Data > Tuning checkbox > Double click on graph > Select pidachieved and piddesired
  - Check max turn rate: Manual > Drive around to tight circles > Check blue on graph
  - Config > Full Param Tree > ACRO_TURN_RATE = result
  - Acro > Drive up and down doing tight circles > See red vs blue line
- Tuning is successful though turn rate is poor due to non optimal assembly
Loiter:
- Loiter SUCCESS though not tested fully due to errors in steering

Session: March 8, 13, 19

RC, Accelerometer and Compass Calibration
- Compass Calibration doesn’t work
- Tried Live Calibration
Tested Loiter outside
- SUCCESS! Moved the boat around and the propeller and rudder moved on their own in attempt to hold position

Session: February 13, 14, 20

Built ardurover3.5 on erle brain2
Tested the rudder and motors using the ardurover 3.5 build: THROTTLE NOT WORKING
Tested the ardurover 3.4 build: NOT WORKING
Tested the ardurover 3.5 build from http://firmware.ardupilot.org/Rover/stable/erlebrain2/: NOT WORKING
- Tried loading the parameters provided here: http://forum.erlerobotics.com/t/erle-rover-throttle-does-not-work/3824/12
  - ARM option disappeared!
  - Throttle finally WORKED!

Session: February 4

Built ardurover3.5 from source code
Followed this link: http://docs.erlerobotics.com/brains/erle-brain-3/sofware/apm#build-apm-using-waf-cross-compil-

Side Project with Interns

Bianca Ruth Bautista and Andric Quinn Baticos
Prototype web app and mobile app developed to receive and visualize data from boat
18 June-20 July 2018

Session: May 29

Session: May 25

Session: May 23

First test for modified boat assembly
- The modifications were on the shaft-propeller assembly where the shaft, propeller, and joint from banggood was used
- It improved the rotation of the propeller together with the motor
Test was done on the pool
- Issue encountered: Boat moves backwards!
Solution: Reverse the polarity of the motor to reverse the rotation
- Exchange the red and blue cables
Sail was successful!

Session: April 13

Session: August 30

Session: August 19-21

Session: August 18

Tried building APMrover2 on Erle Brain: SUCCESS!
Installed APM Planner on Windows
Using controller, tried controlling the motor at different throttle speeds: SUCCESS!
After turning off controller, the motor went failsafe
Solution: Initial Setup>FailSafe>Change RTL
UP NEXT: Motor-Propeller assembly. Prototype boat: Catamaran style, 1 propeller, with rudder

Session: August 8

Session: August 3

Tested RPi at conference room: Success!
Next step: Buy sensors!
Q: Can I use Erle-brain instead?
- Maybe: Read on ArduBoat - https://discuss.ardupilot.org/t/rover-3-0-0-release/8267?source_topic_id=8308