chinese?I am from Beijin.
Open source after I finish sorting, but I’m busy recently.
Hi,
it seems like Im a bit lost. Ive got a teensy 4.0 with f9p wired to it and cmps14 connected via i2c extension (PCA9615). I want to use panda next to my existing pcb v2. Which firmware needs to be uploaded to teensy? “Autosteer_gps_teensy_v5_5.ino”? When I upload it I get an error, but roll and gps get passed to AOG. When driving on rough ground the tractor drives still pretty wobbly and gps heading is not stable. Roll filter is down to 1.
error in Arduino IDE
Autosteer_gps_teensy_v5_5: In function 'void setup()':
Autosteer_gps_teensy_v5_5:253: warning: passing NULL to non-pointer argument 3 of 'boolean BNO080::begin(uint8_t, TwoWire&, uint8_t)'
if (bno08x.begin(bno08xAddress, ImuWire, NULL))
^
zHandlers: In function 'void BuildNmea()':
zHandlers:316: error: 'Eth_udpPAOGI' was not declared in this scope
Eth_udpPAOGI.beginPacket(Eth_ipDestination, portDestination);
^
zHandlers:316: error: 'Eth_ipDestination' was not declared in this scope
Eth_udpPAOGI.beginPacket(Eth_ipDestination, portDestination);
^
zHandlers:316: error: 'portDestination' was not declared in this scope
Eth_udpPAOGI.beginPacket(Eth_ipDestination, portDestination);
^
C:\Users\Bennet\Downloads\SupportFiles\Basic Panda GPS\Firmware\Autosteer_gps_teensy_v5_5\BNO08x_AOG.cpp: In member function 'float BNO080::getPitch()':
BNO08x_AOG.cpp:461: warning: unused variable 'ysqr'
float ysqr = dqy * dqy;
^
C:\Users\Bennet\Downloads\SupportFiles\Basic Panda GPS\Firmware\Autosteer_gps_teensy_v5_5\BNO08x_AOG.cpp: In member function 'boolean BNO080::checkReportEnable(uint8_t, uint16_t)':
BNO08x_AOG.cpp:1602: warning: suggest parentheses around comparison in operand of '&'
if (getFeatureReportId() == reportID & getReportInterval() == reportIntervalMicrosecond) return (true);
^
'Eth_udpPAOGI' was not declared in this scope
Maybe someone can point me in the right direction 
你是中国人吗
Park on a side hill and confirm that the IMU is going the right direction.
I think its throwing errors due to it being written for the teensy4.1 using a native Ethernet port.
Try AOG 5.6 with A_Teensy_v56 ino just comment out
4 lines for ethernet that gives you errors, and latest version of arduino and teensyduino.
Imu is orientated correctly, negative to the left, positive to the right. CMPS has its pins oriented to the front of the tractor
Compiling it for teensy 4.1 works fine, just commented out the lines for ethernet and upload it again.
You cant upload compiled for 4.1 to 4.0, change to 4.0
Where did you get the files to order the board, I have found the following version for panda to feed it separately, but I like this one that you use better since the current enters through the usb of the tensy, right?
It’s a prototype, anyway AOG it’s moving to UDP, that is why only is available the other version.
If anyone needs hire is box for teensy 4.0, Chinese BNO08X, rtk2b
M3 set and one M6 bolt for mounting/tightening, and dupoint F to F wires. Drill out adicional mounting holes or glue/double sided tape.
teensy4.0_chinese bno08x_rtk2b.zip (646.6 KB)
2 Likes
Yep sorry didnt explain myself correctly, uploaded it for teensy 4.0, worked just fine. Still having trouble with bouncing heading as shown in the video:
https://youtu.be/KuB8FDHlqFk
I thought the error between imu heading and gps heading with panda should be way less than in the video (the imu is not the problem, its pretty stable).
To my understanding PANDA does not improve heading, just sync IMU/GPS to be right in time. IMU drifts GPS has its own tolerances thats why there is GPS/IMU fusion.
But with syncing gps and roll, heading has to be more stable while driving straight in my understanding. At least I didnt have these differences when the antenna was on the engine hood (problem with that was that sometimes gps quality was bad, on the cabin its way better), or at least not that bad, simply because its not that far above the ground. I dont know if im getting someting wrong, but the point with panda is to instantly correct for roll so it matches the actual position of the tractor → making it more stable on rough ground.
I can only imagine that something is out of sync in my setup, but I have no idea how to check what it is and how to solve it
On normal AOG you dont have heading deviation ?
what do you mean by normal?
No PANDA IMU on old PCB.
It highly depends on the antenna position, the antenna placed on my suspended cabin the difference was quite bad without panda (and still is with PANDA), on the engine hood it was accepteable. But there were always deviations, especially on rough ground, thats why I wanted to use PANDA. I dont really see an improvement with PANDA right now…
I have to set the antenna (Novatel) frequency to 1Hz or 2Hz, anything else will cause the tractor to bounce all over the screen resulting in poor steering. The F9P is run at 8 or 10 Hz if I’m not mistaken. I just got an F9P as well not yet installed on a machine. Cannot say if the machine position is stable or not. I’d crank the antenna frequency down to see if that makes it more stable.
Mind you my my systems don’t use RTK due to remote locations, too far out for any radio an no cell phone.