it’s on the front of the roof. 126cm ahead of the rear axle. None of the hardware is changed from my normal setup. Slightly different steer settings but that’s it.
Well it’s had a test today! Leaving my first job I drove over some strong brash and ripped my WAS wiring off so I’ve just done 7 hours solid maize drilling with no WAS. 3 hours in the dark. It showed me I need to make the rogue value dumping more sensitive. Rough headlands made steer less stable but VERY rough ground didn’t upset it anywhere near as much.
[Edit…]
Sorry to add yet another video, but this shows an initial headland boundary pass then a second auto steered pass and the third pass being made. It seems to deal with curves just fine.
Now I’ve used it for an extended period I think I might have come up with a method of using reasonably heavy filtering, not as a direct filter but as a means of value rejection or limiting, based on comparison.
8 Likes
This is very awesome.
I think just having the option of WAS, no WAS is handy. Might make swather integration a snap. I get the pros of a WAS, but this steers good enough it will save much time deploying AOG on more units that may not absolutely need or are too impractical to mount a WAS.
3 Likes
I don’t actually have an application for it myself ( although it saved my day on friday!!) but it seems to me the WAS installation is a bit of a sticking point for both the less mechanically minded and also more obscure machinery. Also it’s vulnerable, even when you’ve tried your best!!
Watching the heading output of the BNO085 closely convinced me it was plenty good enough to at least try, and the basic concept is extremely simple. I originally used Game Rotation Vector yaw over time but testing on the bench it had exactly the same output as gyro rotational velocity, so I’ve used that since as I don’t need to factor in reading interval variances. I might try the GRVector method again and test it’s performance under noisy conditions.
It probably needs some more maths to refine it a bit once the concept is running as well as I can, but I want it as simple as possible for now so I know how well my filtering is doing.
3 Likes
Alan can you share with us your code to tryout?
Thanks.
1 Like
It’s basically very simple but yes, I will share the code. Just want to refine it a little bit if I can first. I’ve changed it that many times, around the same basic concept!! Testing time has been an issue but having to use it for 7 hours solid has helped quite a lot!!
3 Likes
Thanks,
I always think that multiple people have different aproach to problem,maybe some one will have idea how to improve code.
Just post it lol - even right here. It will always need tweaking, others can help and make it better 10x faster. That is the power of the open source community.
7 Likes
Yes, finally received my parts from digi key for the AOG V2 board, and already smitten with wanting to build @GoRoNb 's smd teensy 4.1 variant. Also watched version 4 get blasted into version 5. That’s just since January, you guys move very fast.
…and no committees!
As one friend who works for Astra Zeneca once said.
“We have meetings to decide when to have a meeting. We have the meeting. We then have a meeting to discuss the outcome of the meeting!”
3 Likes
I THINK i’ve found the version i drilled maize with with on my older CF-D1 that I’ve taken out of the 716!
I’m away for a week from midday today so can’t test to find out.
Some of the multiple versions I had a stab at have glaring mistakes but still worked. This could be one!! 
It will work by simply taking the AV, factoring in speed and just sending it at an appropriate level.
6 Likes
Hi Alan! Just read this thread. Great work! Do you think I can try this out with the latest version?
Are there changes necessary in AgOpenGps?
It should work with the latest. Like I said, it’s quite rough and needs soft steer settings.
Hi , im using AOG V5.2.2 with hydraulic valves : Perfect ! what is nessessary to change for user this , with was less ? Nessessary to change the arduino .INO ??? . thank you for your answer . ( and your good work !) . Jlipic
I’m sorry i can’t understand you question.
Hello, I would like to know if it is necessary to change the arduino code to test aog without an angle sensor. Are there other things to do as well? Thank you.
You use an other ino.
Check the link in post 151.
I think you have to use a BNO085
Hi @Alan.Webb I upload this code to my Arduino. I am having no joy. Is there any other settings I need to do in the AOG?
-IMU vs GPS fusion?
-Other?
In the arduino settings in AOG, the A2D converter needs to be set to DIFFERENTIAL. This selects WAS less mode. Normal mode doesn’t work at the moment with this code.