It shows 10 to 12, but I’m pretty sure I’m only sending across the radio at 1hz
Edit
I changed the arduino code so that I can run danfoss valve with md13s. Ever since that i have had to max output to 255 and proportional is 167. Still seems a little slow. That may be why I haven’t gotten Stanley to work well. Been wondering if I can jump to a higher pwm frequency and see if that would help.
Are you using F9P? What is its rate set at? I run mine at 8hz
Dual f9p. This tractor is at 8hz and the other is at 10hz
But you said AOG is showing 10-12 hz incoming? The bottom number right…?
Yes, this tractor is set at 8hz and shows 10-12, bottom right, and the other tractor is set at 10hz and show 12-14hz. When it was on single antenna, it displayed the same as the f9p was set at. I figured it had something to do with the way they come through the esp.
Something is wrong, it should display the same as what the F9P is set at…or at least mine always does, occasionaly it will drop below if the ESP over heats or RTK signal is poor, but it will never ever go above, if AOG is showing it higher than the F9P is set, something must be wrong I think…
I wont disagree that something is not right, but sure don’t know what. I am inputting rtk from radio to tx2 on the xbee socket on the lower board. Seems like most everyone else is using ntrip. But other than that I believe I am assembled and uploaded the same. Open to any ideas
If when forward is set to zero try adding an offset in AOG to see if you can get it about right. I did find it tricky to arrive at the correct figure for offset in the Web Interface as for some reason despite my antennas being symmetrical on the tractor I needed a negative virtual position a cm or two off actual centre for it to line up. I use a Hydroforce valve and Stanley seems to work best, from memory my proportional is about 60 and Min PWM about 70. I use the 1.13 config files which set the frequency at 8Hz which AOG confirms on mine. I have RTCM3 corrections via NTRIP at 1 Hz also.
How are you getting RTK to the other F9P? You say you give it directly to the F9P via xbee? Are you then sending it out one and into the other via UART2? Connected via Ucenter to confirm both F9P’s are at 8hz with RTK fix in ucenter?
I did try virtual forward at zero and tested differing amounts in aog forward of axle. It drove fair but wandered. I cant recall if it was crossing the line or lagging though. I am at 30 on min pwm. I may try to increase that as I am positive that my valve is still too slow.
Do you know how to increase the pwm frequency in the arduino sketch ? I’ve never changed it and feel it could help since I’m already maxed out on output.
That is correct. Rtk comes to right f9p, and sends to left via uart2. It is fix in u-center. Even without rtk to right, it will fix on left as right acts as moving base. Must have corrections to right f9p to get rtk fix in aog though.
Sorry I’m not sure how to increase max settings in the code, but I would definitely try increasing the min PWM first. Mine would not have enough response with 30.
I will try. I think I did adjust it higher initially, and it started constant back and forth. Danfoss is a servo valve, they don’t require high power to open like a solenoid valve. They have sort of a pendulum that swings back and forth for left and right and require power to hold them center.
RTK on both is essential for heading calculation, or else it will just revert to fix-fix unless the ESP code has changed. If your F9P’s are set at 8hz, why is AOG set to 10?
Correct, need both. I opened u-center and double and triple checked the rates, and they are both set 8hz. I will change the port in aog to upper then lower reciever and check, but am certain that it will match the f9p setting then. Will also look in the esp code and see if I can find anything.
But AOG is set to 10hz looking at your screenshot? You need to change AOG to 8hz also
Yes aog is at 10hz. As per Brian’s videos. When we were just running ublox single c099 we had to set those at 8 but always have aog at 10hz for sending steering solutions back to arduino. I had f9p set to 10hz but aog showed 12.
I went out and tried setting virtual to 0 and moving aog antenna forward, and it didn’t steer as good. Also turned min pwm up as Rich suggested, but the front tires began flopping back and forth with just a few number increase.so I put all that back and un-commented the frequency just higher than the default 490 with no change, set it just under at 122, I think, and maybe a little more responsive, not sure. Probably missing something simple. I too have Matt’s v1.13 rover and MB configurations.
Do you have “none” selected for heading in data source ?
Edit
Darren are you using the ino that theGtknerd posted in PID for Danfoss ?
I dont use danfoss, I use hydraforce valve…
No, heading is set to dual… Whats the point in using dual antenna if you have heading source set to none?
No, to the right. Heading correction source
Just reading all the posts with your north south west east issue…Have you tried Franz Husch his dual esp code already?