Was with keya

Software
1

Hello everyone,
I’ve written a code to use the Keya encoder instead of the steering angle sensor. To synchronize the encoder with the actual wheel angle, I based it on Marek’s idea of ​​automatically zeroing the WAS. My code performs an initial zero at startup and then continuously zeros the encoder based on the GPS and IMU bearings. The tolerances are adjustable via a web interface.

To simplify use, to use WAS mode with the Keya, you must activate Danfoss mode. Deactivating it reverts to normal WAS mode.

The code was initially based on code for Manu’s PCB ECU from the French group. I adapted it for the AIO. Note that some have GPS on serial number 7, others on serial number 2; you’ll need to change it manually.

Testing has been done for a while now, and everything seems to be working without any problems. Code on my GitHub: GitHub - Flodu81/AIO_Keya_WasKeyaFiltre: AOG code to use the Keya encoder as an angle sensor · GitHub

2 Likes
2

Hello, this looks interesting does this work with a TM171 imu?

3

Yes, but I haven’t tested it 100% yet, just in the office; I wasn’t the one who tested it.

4

Really would like to try this on a swather… Has this been tested on dual antenna? Agopen v4.5 board?

Or if someone could help guide me through the modifications so I could test… It would be great!

5

I’ve started adapting the dual but haven’t tested it yet, and you on Telegram, I’ll adapt it to AIO and I can send it to you?

6

That would be great… Private message me and I’ll get you my telegram…

7

I also think this could be good with dual antenna
Um982 paogi messages would be good i think

8

I’ve written the code for the PCB ECU made in France; I need to adapt it to the AIO.