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

3 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.

9

Hi,
Will this code work with the u-blox F9P GPS board? Could someone send me a ready-made file (hex) to upload to the Teensy? I’m having trouble compiling; I’m getting the error: Compilation error: 'class HardwareSerial' has no member named 'addMemoryForRead'.

10

Down grade board ware in ide to 1.57

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11

Should I choose the Teensy 1.57 instead of the 4.1?

12

Just down grade your IDE software. To 1.57
Still using teensy 4.1
You might need to reinstall software.

1 Like
13

Yes you have to put teensyduino in version 1.57, if you can’t contact me on telegram it will be easier, and I will guide you on the settings of the 0 auto

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14

How user friendly is this? Does it require setting a zero position everytime or can I just jump in the tractor and go?

15

Yes, it’s very easy. You enter my code, activate Danfoss mode, and then it performs an initial automatic zeroing each time you start the system, but you won’t even notice it. You just need to drive a little straight. After that, the automatic zeroing happens continuously without you realizing it. If you’re still not convinced, you can turn off Danfoss and switch back to classic WAS mode.

16

Ill give it a try. It works on AIO with F9P and BNO?

17

Had tried this a few months ago and at that point it was not adapted to aio… Has this been accomplished and will it work with dual F9P gps without BNO?

18

Not sure on dual yet but i believe it works with bno085 and tm171 imu

19

Yes, I haven’t adapted it for dual yet. I’ve started looking for a dual version for the UM982, then there’s the F9P dual version.

20

From my experience with dual um982 paogi messages seem to work better than kxst pass through messages