I have done it exactly this way. I have also wird the 3.3V to the Esp32. If i want to connect eps32 to AOG nothing happend.
Thats why i have some questions.
Is it enough to just load the included txt. File at githubIs on both f9ps? Or do i have to modify some options by Hand?
Is it possible to Power al three Component with USB?
What exactly do i have to adjust on the Esp32 Code and on AOG to have roll and heading from GPS?
Would be really nice to have some answers, that i can fix my Bug.
Thanks and stay healthy in time of corona.
Peter
Hi Bada,
For testing it might work to power all 3 (ESP+2xF9P) over USB, my computer delivers enough power over USB port.
Did you save the configs to the F9P after loading them?
In the webinterface of the ESP32 you can turn on debugmodeUXB. With this, you can see on USB (e.g. with Termite) if data comes from F9P to ESP32. In webinterface you can also change the PINs. So play with this until data is comingā¦
greetings
Matthias
PS the antennas must see the satelites to see output on USB debugmode
Any closer to looking at getting Ethernet support yet @MTZ8302 ? Spoke / mentioned it to Franz earlier, have got my setup working on the tractor now, would be so so useful to have ethernet support though, the rest of my system is all ethernet UDP based, super fast to connect if tractor is shut off / on etc, (less than 2-3 seconds) but with wifi if you turn off, you have to wait for the wifi access point to come back on again, then the ESP to connect etc, all takes timeā¦Not to mention the less delay / more reliable ethernet connectionā¦
Hoping to test in the field just as soon as it drys up again!
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What about a usr TCP 232 and set the esp to usb output.
It would be interesting to hook a scope to confirm if WIFI is coming anywhere close to 10 hz let alone delay. Best i ever got 10 hz gps thru a wifi router is 3 or 4 hz with data bunched together. Can send GPS at 500 hz - but it still is only a few updates per second, it sends 150 positions at one time.
Ethernet - no problem
I looked with wireshark. Seems to be no problem. Time between two paogi packets from 90-110 ms.
Rut955 and Laptop in cabin. ESP on the roof. Mats code of dual GPS.
Maybe a stupid side question.
Does dual antenna also works with C099 application board as it has F9P chip?
Thanks
Yes, you can also use the c099 application Board. For the first testing i used one in combination with the ardusimple f9p board.
Is the esp32 acting at the AP? Any idea if matt has been able to force a packet transmission instead of letting it bunch them up?
Maybe wifi broadcast is a way to go for one way stream of data.
In my code the ESP32 can log into an existing network or after this fails (adjustable time) it creates an Access point.
In one system I drive with this Access point, where the tablet and the section control logs in.
I know, some routers create timing issues, but with my rut955 it is not a problem.
Have you added any special code to make the wifi work better than normal? Does your router have any special settings to help with this? Does anyone else successfully use Mattās code with a different brand router?
Iām using the dualgps and Autosteer ESP Codes from matt. The Autosteer ESP is my AP where Tablet and dualgps ESP log in. In my Case the WiFi seems to work without any Problems. Even better than the USB on the other tractor. Drove the last 3 days with it and WiFi never made trouble.
Got my setup installed to tractor today, next step testing!
Some pictures in my other thread:
@darrenjlobb very neat JD project, @MTZ8302 @BrianTee_Admin and others. Fascinating thread and rather late looking into AOG. Re the side slip heading offset to true direction, surely this is no different to the bias of a magnetic heading, so could be treated in the same way. I have not checked the code but assume there is some Kalman that fuses the roll pitch and heading of the gyro to the GPS calculated heading. So why not fuse the dual antenna heading with the calculated GPS heading to take out the side slope heading bias? Maybe I misunderstand the setup but I assume if you use a dual antenna for roll and heading you dispense with the AHRS? The AHRS could still be useful though if AOG is doing interpolation faster than the GPS update rate,again I am new here so not sure if that is being done or necessary. For instance rate of change of heading, if used, might be more up to date from AHRS compared to a calculated from GPS heading, but Iām guessing the system just uses steering angle instead, but what about tracked vehicles where there is no steering angle? Sorry if some of this has been covered before.
After sleeping on the problem of sideslip with dual antenna due to crabbing, I think it should not be a big problem as the PID should take out the bias with the integral term. So I think losing the internal AHRS in AOG should be OK, provided the higher update rate of the internal AHRS and lower latency is not needed in the software. Pitch should not be a great contribution to errors as its mostly in line with the direction of travel (except during curves) and pitch should be lower than roll due to the geometry of the tractor having longer wheelbase than width, at worst it will intruduce some noise into the forward speed. Well this is all theoretical, I am hoping to get some hardware built to test out. I have the stable F9P(single antenna) base rover setup so far.
MTZ 8302 could you post a pin diagram for the jumper wires on the ardusimple boards. Im finding it kindave hard to tell in pictures for sure which pins to connect.
Thanks Fritz
Easier to just look at the pin assignments so you can see what needs to go to whatā¦TX1,RX1, TX2, RX2 etc
Is there anyone else in the UK using Dual antenna?
We are having quite the headache with my setup and at the moment cant get to the bottom of itā¦
When using Mattās code, I have it āworkingā in that, it drives in the correct direction, and the heading is always correct, but it wont drive a straight line, just waves left / right and makes a messā¦ vs sf3000 (no rtk) will drive pretty much perfect lineā¦
But now working with Franz to try and get his code working, but with his, on 4.3.10, we cant make it drive forwards, it just drives left / right, even if driving straight aheadā¦ heading is always correct / arrow points correctly, but position drives sidewaysā¦ Same setup in 4.1.12 worksā¦
Any thoughts?
Sorry for not having a documentation that is worth the word, simply still coding to chase the last exceptions. Yesterday a hemisphere problem came up.
For pin assignment it might be the easiest to look in the first 50 lines of code, there is a schema of it. Principally almost every pinout will work. Donāt use 6 to 12.
Andreas is testing ready boards to stack the Ardusimples in. If he is done with the test, we may get a recommended pinout. But at the moment he uses a different code not running on esp with no filters, exceptionsā¦ for testing
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