This forum uses cookies
This forum makes use of cookies to store your login information if you are registered, and your last visit if you are not. Cookies are small text documents stored on your computer; the cookies set by this forum can only be used on this website and pose no security risk. Cookies on this forum also track the specific topics you have read and when you last read them. Please confirm whether you accept or reject these cookies being set.

A cookie will be stored in your browser regardless of choice to prevent you being asked this question again. You will be able to change your cookie settings at any time using the link in the footer.

Thread Rating:
  • 0 Vote(s) - 0 Average
  • 1
  • 2
  • 3
  • 4
  • 5
another beta image release
#26
Hi,

I finished my test setup today (I had to wait for a working IBT2-bridge cause the first one I got was broken).

Setup:

Raspberry Pi Zero w with Tinypilot image 2020-10-27 via UART connected with
Arduino Nano with the motor.ino from Timo (Code) modified for using Pins 9 and 10 for PWM for changing PWM frequency.
IBT2_bridge as H-Bridge Motor-Controler
Linear-Aktuator with Rudderfeedback from here.
IMU 9250 connected via I2C with the Pi

Raspberry Pi 3b+ with latest Raspbian Buster
Opencpn (not Openplotter) 5.2.4 from repo
pypilot plugin 0.22.5.0 from repo

Tinypilot is wlan client of the Rpi3b+, Data connections via plugin and tcp 

Just simulated boat moving here at home on the table.

All values from the Tinypilot are correct transmitted to the plugin in opencpn. It´s possible to see them in the settings windows and the values seems to be correct. 

AP disengaged: Plugin Funktion-knobs working, Hardware (via GPIO) changings working, web-gui changings working.
Aktuator moves like expected

AP engaged tested (only compass mode): generally the Funktion knobs worked like in disengaged mode. Moving the IMU ends in moving Aktuator mostly as expected. I had to play around with the gain settings until i got an acceptable response. Sometimes the heading values from the IMU were strange incorrect and this ends in sometimes not logical movements of the actuator. But this is due to the not yet found smooth point for the gains I think and also the simulated movement of the IMU here on the table (I didn´t get a good calibration, I move the IMU slowly in circles but this was not very successfully.

Tacking: When pressing the knop in the plugin (compass mode) the waiting time counts down and then the AP just disengaged, no movement of the actuator.
When using the GPIO26 Hardware Tacking input nothing happens.
I know, that tacking function not really implemented but is this normal?

When using the eg. the +10 knob and pressing it for 10 times (tack angel 100°) then the Aktuator moves as expected and changes the course like expected but not very fast (maybe due to the gain settings). On the other hand it´s normal for the pid that only big differences between actual and target heading ends in big movements of the actuator.

Sometimes the gain-settings are not visible when starting Opencpn and / or pypilot. Mostly they came back when restarting opencpn.
When not visible then also a lot of the other setting values under the "settings windows" are not shown.
Sometimes the gain-settings are invisible after done some actions in the plugin. Didn´t found out yet witch actions ends in the invisible gain-setting window (and other invisible setting-informations).   

Tried to built pypilot plugin from source. This was ok but then I failed to install it. I get in struggle with the plugin management from opencpn.
I´ll investigate this in the next few weeks.

Thank you Sean for your work. Seems that this AP works better than my old Raymarine ST 2000 when use the right gain settings.

Wishlist (if I may place a wish Blush ): Working tack function. When sailing single handed I use the tack function from the ST 2000 very often so a working tack function will be fine.

Now I´m waiting for some custom made pcbs, for some touch sensors and a lcd (the jlx12864) witch I want to connect then with the Pi zero.

Best regards

Andreas
Reply


Messages In This Thread
another beta image release - by seandepagnier - 2020-10-28, 05:06 PM
RE: another beta image release - by xfactor99 - 2020-10-28, 08:16 PM
RE: another beta image release - by seandepagnier - 2020-10-29, 02:12 AM
RE: another beta image release - by ironman - 2020-10-29, 12:06 PM
RE: another beta image release - by seandepagnier - 2020-10-29, 02:22 PM
RE: another beta image release - by xfactor99 - 2020-10-29, 07:34 PM
RE: another beta image release - by seandepagnier - 2020-10-30, 04:03 PM
RE: another beta image release - by ironman - 2020-11-17, 06:18 PM
RE: another beta image release - by xfactor99 - 2020-10-30, 07:19 PM
RE: another beta image release - by seandepagnier - 2020-10-31, 01:56 AM
RE: another beta image release - by xfactor99 - 2020-10-31, 10:53 AM
RE: another beta image release - by kalle - 2020-11-02, 08:23 PM
RE: another beta image release - by seandepagnier - 2020-11-02, 08:30 PM
RE: another beta image release - by kalle - 2020-11-03, 01:09 AM
RE: another beta image release - by rastam4n - 2020-11-03, 03:17 PM
RE: another beta image release - by seandepagnier - 2020-11-03, 05:00 PM
RE: another beta image release - by rastam4n - 2020-11-03, 05:08 PM
RE: another beta image release - by kalle - 2020-11-03, 06:33 PM
RE: another beta image release - by seandepagnier - 2020-11-03, 10:48 PM
RE: another beta image release - by rastam4n - 2020-11-04, 04:34 AM
RE: another beta image release - by rastam4n - 2020-11-06, 10:31 PM
RE: another beta image release - by ostwind - 2020-11-07, 08:28 AM
RE: another beta image release - by seandepagnier - 2020-11-07, 02:48 PM
RE: another beta image release - by ostwind - 2020-11-07, 03:02 PM
RE: another beta image release - by seandepagnier - 2020-11-07, 10:30 PM
RE: another beta image release - by rastam4n - 2020-11-08, 08:43 PM
RE: another beta image release - by Andreas29 - 2020-11-13, 09:24 PM
RE: another beta image release - by seandepagnier - 2020-11-14, 05:32 PM
RE: another beta image release - by Andreas29 - 2020-11-14, 07:32 PM
RE: another beta image release - by seandepagnier - 2020-11-14, 10:16 PM
RE: another beta image release - by Andreas29 - 2020-11-15, 09:08 AM
RE: another beta image release - by Andreas29 - 2020-11-15, 04:35 PM
RE: another beta image release - by seandepagnier - 2020-11-15, 07:12 PM
RE: another beta image release - by Andreas29 - 2020-11-15, 09:02 PM
RE: another beta image release - by seandepagnier - 2020-11-15, 10:47 PM
RE: another beta image release - by Andreas29 - 2020-11-27, 11:32 AM
RE: another beta image release - by seandepagnier - 2020-11-27, 06:00 PM
RE: another beta image release - by Andreas29 - 2020-11-27, 06:43 PM
RE: another beta image release - by Onno - 2021-01-09, 03:03 PM
RE: another beta image release - by ironman - 2021-01-09, 10:48 PM
RE: another beta image release - by Onno - 2021-01-10, 10:52 AM
RE: another beta image release - by Onno - 2021-01-10, 12:41 PM
RE: another beta image release - by seandepagnier - 2021-01-10, 05:46 PM
RE: another beta image release - by Onno - 2021-03-04, 06:50 PM
RE: another beta image release - by MoNkToNk - 2021-04-06, 04:27 PM
RE: another beta image release - by MoNkToNk - 2021-05-17, 09:37 AM
RE: another beta image release - by Andreas29 - 2021-05-17, 02:44 PM
RE: another beta image release - by Onno - 2021-05-17, 03:57 PM
RE: another beta image release - by Andreas29 - 2021-05-17, 07:01 PM
RE: another beta image release - by Andreas29 - 2021-05-25, 04:15 PM

Forum Jump:


Users browsing this thread: 1 Guest(s)