Hi,
After a few months of testing software, wiring, etc. I finally was happy with it and threw it all at my tractor, a Chamberlain 4080.
Details are:
• Keya gen 3 with John Deere style adapter
• PCB v4.5, F9P, IMU (running free to air/no correction)
• Dell XPS15 (temporary, a dedicated tablet is being decided upon)
• Land Rover style WAS
Some more time spend dialling in the steering settings are needed, to get the driving a bit straight and accurate is needed. I had some problems with the steering wizard so another go at that to help.
My WAS bracket isnt lined up properly, as at full left lock the sensor goes backwards and doesnt read, and needs to be physically reset, so some fiddling with that to get it working in full range of motion is needed too.
The Keya motor is a great thing! Super easy to wire up using the provided harness, flashing the teensy is the hardest part! I was able to repurpose a bracket i had made for an ATU200 that was used with a Leica MojoRTK system (that never actually worked).
I had some issues before it would actually work, dont know what the cause was, but eventually got it going. In the future, I think some keya specific settings would be great (such as motor driver option, to help with confusion if nothing else), and a way to tell from AOG that it is communicating with the Keya, to help with trouble shooting and fault finding. They provide a nice, trouble free, OEM style option that makes installs neat and clutter free, so I think further incorporating them is a no brainer.
I cant quite seem to dial the manual override in to the point where it can steer properly and I can still grab the wheel to over ride it, again, likely more trial and error.
Currently using free to air GPS, as i havent had a chance to explore the AUCORS network yet, I farm between two towers that are 60km away each, and have patchy mobile signal so also entertaining the idea of building a radio base station.
Install version 2 will include relocation of all the wiring and PCB to the roof to get it out of the cab, just having keya wiring and an RJ45 passthrough for the tablet so that there is almost no trace of the system.
As well as a DB9 serial plug to provide gps signal to my Rinex section control box, before i dive fully into AOG rate/section control.
I am very impressed with this though, and many thanks to all those who have contributed or helped this project in any way, shape or form. This is truly something to behold in terms of its capacity and functionality.
