Boat build part 2 - Preparing the autopilot
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- Опубліковано 25 лют 2023
- This is the second video in a series on how to build a bait boat.
PART 2: In this first video we will install the Rover firmware from Ardupilot. I will select version 4.1.5 since this video series will offer a parameter file that you may use. You should be VERY carful using parameter files in general, and especially you should avoid parameter files from older versions. If you do not intend to use the parameter file to be provided then make yourself a favor and install the most recent version available!
In addition to the firmware installation I will walk you through setting some key attributes to make the upcoming boat build process much easier. Not many parameters involved, so make yourself a favour and follow the advice. We will also calibrate the radio, accellometers and the compass.
During compass caliration I do not show how I twist the boat. So please remember to do the following:
a. Point one side of the boat north (you may also tilt it slightly towards the floor)
With each side I mean: Nose, Back, Left, Right, Upper, Bottom
b. While keeping each side north, twist the body 360 degrees sideways
One 360 degree twist for EACH side keeping it's side pointing north
In total you do this six times!
c. If not successful on first try, keep on doing the same
d. If you never succeed with the internal compass then:
Disable it. Reboot the pixhawk. Start over again
If you are able to build a 14 AWG extension lead of approx 2 meters: Remove batteries inside the boat, connect the battery using the extension lead and THEN do compass calibration. Batteries are heavy, and the twisting movements needed may possibly make your batteries tumble around and damage components inside the boat. Use of an extension lead will help avoiding a disaster.
Please note: The parameter file will be shared later in this series. I need to make sure it matches the resulting boat build, so right now I cannot guarantee that it will be perfect.
Please note that I will make the videos as the boat build progresses. It will take some time, and videos will thus become public over a period in time.
Videos planned to follow up after this introduction:
Partt 1: Introduction, power system and some general guidelines
Part 2: [this video]
Part 3: Walkthrough of the additional components bought and printed
Part 4: Building the upper hull (from parts to complete)
Part 5: Installing lower hull parts
Part 6: Adding the lower hull power and signalling system
Part 7: Finalizing boat configuration
Part 8: Combining upper and lower hulls and gluing
Part 9: Settings in Carp Pilot Pro to fully support all boat features
That's what we call attention to detail and a super explanation!!! Keep it up.
Easy to follow ... thanks for the videos 👍👍
Très bonnes explications ! Merci pour cette vidéo 👍👍👍
Super👏👏👏
On 14.46 video you make all channels active. Please tell me how to make it possible to change the value of Min, Trim, Max.
They work in this case only on channels 1 and 3
I have no problem changing max, min and trim for all servo channels. Tried it just now as I am building a new boat.
Hello. Very nice walk through, I ilke it very much ! I could not see the parameter file you have mentioned. How could I get one ? Thank you :)
Linked into description of video 7
Hey, do you have links to all parts used? I am trying to scale this kind of boat up to fit a person in. Thanks
I do not have a list of links. But I have updated the description for the video 1. In video 1 there is a table around 1 minute out covering the major parts with model names. And in the video description you will find a full list of components.
Top aus
Good day. Please tell me how to connect T12 skaydroid with pixhok 4 mini. And the settings for your project will be the same as for T10.
I never used the T12. Skydroid has two variants of their receiver as far as I know, and the telemetry link will anyhow need its TX and RX connected to the Pixhawk Telem1 RX and TX. So it should not be difficult. I am not sure if the remote also uses the same app to be configured, but I guess so. This is described in their handbook anyway.
For telemetry the setup in pixhawk and the app will be the same (I assume T12 also shares the telemetry data by Bluetooth). I am no affiliate of Skydroid and can only answer precisely on the hardware I know inside/out... 😅
With regards to the receiver and transmitter could I use the HotRC DS600?
I have absolutely no idea. Number of channels is sufficient. But what protocol is used (ppm, s.bus and so on) O do not know. I am only familiar with very limited number of alternatives. But you will find tons of questions and answers in Ardupilot discussion forums.
discuss.ardupilot.org/
high would this set up be the same with different flight controllers
More or less. Pinouts vary on different hardware options, of course. I demonstrated preparing a pixhawk 2.4.8. But I already have a smaller Pixhawk4 mini available with all bells and whistles that I might use instead. I even have a Mateksys F405-WTE ready, and it is only half the size of that pixhawk 2.4.8. And they will all work provided they get the Ardurover firmware installed. It's the firmware that does the job, while there are lots of options on hardware to install it on. I advice staying clear of the old and totally out of date (end of life) APM though as you get multiple limitations using hardware that has not gotten any updates since 2015.
In your video, all the settings for pixhowk, and can you help with the pixhowk4 mini settings, how to configure the wifi adapter and san compass. What firmware did you use for the pixhowk4 mini?
Firmware used is 4.3.2 (you should have good reasons not to select the latest, I did not have any reasons not to use the latest).
As I used a CAN GPS and not a serial GPS: The GPS from Mateksys (M10 L4 3100) came with a 4 pin cable with JST GH connectors. Clipped straight into the GPS and in the CAN port on the Pixhawk4. I needed to make one setting in Ardupilot to tell it that I used a CAN GPS (this is NOT default, the ardupilot wiki explains which parameter to alter for the GPS type).
The wifi adapter is a straight forward ESP prepared for UDP telemetry purchased from Ali Express. Sellers offer this in variants for APM and Pixhawk (the connector differs). I bough for Pixhawk. Meaning that I got one with DF13 plug that the Pixhawk4 does NOT have. I cut off a 6 pin spare JST GH cable i had, cut off the DF13 connector and soldered on so I got a JST GH connector on the other end (as documented in the video). This was plugged into pixhawk4 port "UART&I2C B" {between TELEM1 and Power ports). And then in settings I altered SERIAL2_PROTOCOL to 1.
The recommended GPS to use with Pixhawk4 mini is the original M8n or M9n from holybro. It has safety button included and comes with a ready made 10 pin JST GH connector that slips right into the GPS Module port. If you want to use a different GPS you are in for a challenge to create that 10 pin connector and get the wires correctly aligned. I am not going to provide any advice for that, buy the original GPS that fits and save yourself a lot of trouble.
I will try to figure it out, thank you very much for your help. I already have a can gps, so I would not want to buy an m9 or m8. I understand that it is easier with it, because no extra settings are needed. Thank you again for your time and help, I will deal with the settings
Good afternoon, one last question, maybe you can help me. I downloaded firmware 4.3.2 for pixhawk4 mini. I put all the settings from your list without problems. The only thing is that I can’t connect M10-L4-3100 to pixhawk. I set up CAN:CAN_D1_PROTOCOL>1 CAN_P1_DRIVER>1 GPS_TYPE>9 NTF_LED_TYPES>231 BRD_SEFETIENABEL>0 Where did I go wrong, or what did I not set yet? You have already completed these settings, please help
@@jeckfrost9371 I used 4.3.2 (latest) and made the settings for CAN GPS according to the guidelines as described by mateksys (probably also looked in the ArduPilot wiki). It came straight up. I have l no log of the changes I made, it worked instantly. I can look at my settings when I have some time to connect to the boat. But then it is easier if you reach out directly and not as part of a youtube comments discussion. I do not remember the exact parameters to set on the top of my head.
Hi would you know the transmitter settings for a Radiomaster T16 running Opentx. Thank you.
Not really sure what settings you are asking for. And anyway it is better to join the Carp Pilot Pro user group on Facebook for detailed questions, UA-cam comments section is not very well fit for such purposes
by default on arduover only throotle and GroundSteering. Is it possible to change these values and add more to control and change the value of the servo (min, Trim, Max)?
If you have motor and rudder on the boat then that is exactly the default setup of ardupilot. If you have two motors then that is so called "skid steering" (like a tank). And then you do like I showed in the video. And yes, you can change max, min and trim on all channels.
if the channel is set to RCPass Thru, the Min,Trim,max values do not change.
@@fishingforfun3294 For me this works as it should. I have no problem to change let's say max pwm. If I disconnect and connect or even reboot and then reconnect then the chabged value is still changed.
Great App!
will it work with a crossfire full tx?
@@crappyfpv9980 if another GCS can use it (say Mission Planner or QGC) then yes.
The pixhawk in your video does not state what type of pixhawk, is this the radiolink or the 2.4.8? And is this pixhawk updateable trough time? Kind regards
For the video, a radiolink pixhawk was used. The similar model you usually find (on let's say Ali express) is named as model 2.4.8.
This model was great back in 2014-ish. Nowadays regarded entry level. And with the recent ardupilot 4.4 release we saw the first evidence that it has become dated. In 4.4 version you can run a lua script that helps you tune the autopilot. A task that is fairly straight forward to do manually if you carefully follow guides, but still not considered an easy task. Anyway: The pixhawk 2.4.8 does not get this script. It simply does not have the power to run it. So it is a clear indication that it's days are numbered. But seen aside from the tuning help it is a great piece of hardware for bait boats and likely will stay this way for many years to come.
Thank you so much for the fast response. I had one other question, I have a dual motor esc 40x2 40A per motor so to say. With this esc I can drive and steer with just one of the stick. Is a dual esc also fit for autopilot or do I need 2 separate esc’s? Kind regards!
@@benjaminmans4360 i believe you will need two individual ESC. Ardupilot controls one per channel (default ch 1 for left and ch 3 for tight motor). The mixing needed to make one stick control both throttle and steering is handled automatically.
I bought carp pilot ı am trying manuel drive but it just auto mod ,my boat 1 motor ,ı dont know which parametre ı must change
If you have one motor and a rudder, or a motor that changes direction to allow you to steer, then the default pixhawk parameters are motor and rudder (steering on channel 1, throttle on channel 3).
Next: To have some various modes available then set up a switch for swapping modes. I typically use: RTL, Auto and Manual on a 3 step switch. Like in the video.
Now for the app: A full manual is shortly available. You can get it from the main menu. Will be available in the update coming next week. Anyway, look at the app's bottom buttons. The button to the left is the mode choice (driving, when the lock is red, planning, when the lock is open and green). When you drive, make sure that this button displays the red lock and that you have telemety date in the top line of the app. And then please note: The second button (besides the lock button) is the driving mode selector. To drive manual, click this and select the green remote button. Now your boat enters manual mode and you can drive with the remote or with the on screen joystick (I assume you have not built in an APM as autopilot in your boat).
Hello. Are these settings suitable for pixhawk 6c mini and ardurover 4.5?
The parameters i have uploaded for another video in the series are made for 4.2.3. And I also do 4.2.3 in this video.
The settings I add generally should still be correct in the newer versions. But for 4.5.1, the tuning of driving and turning has changed significantly (baptised "SCurve"). Meaning that using my parameters for 4.2.3 (directly from a file) will not work as the tuning performed is no longer a valid tuning.
As long as you find the same parameters when you try to set them then they are still valid. As for tuning in 4.5.1 there is a luascript called autotune. This you can upload to the pixhawk and get great help in the tuning efforts (prior to version 4.4, tuning was always a manual task and could be a bit challenging). That is the great news for anyone installing this recent 4.5.1 version.
@@TheCarpPilot this is great, tell me where to find this Luascript Autotune? How to download and configure it?
@@TheCarpPilot Do you have a video on setting up 4.5.1?
@@fishingforfun3294 i never tried 4.5.1, so there is no video made by me. It is more or less the same though.
I made a typo. The script is not called autotune, it is called quicktune. I never tried it as the boats are already tuned manually. But if you look here, in the overview of tuning, and scroll a little down you will find a section about quicktune:
ardupilot.org/rover/docs/rover-tuning-process.html
Follow the documentation. The script must be uploaded to your pixhawk. And then you need to know how to use it. Instructions and downloads are all linked from the page I referred to.
Bonjour avez un lien pour les accessoires à acheter pour l auto pilot gps svp
The video 1 description says a lot about the parts.
For the autopilot and which is the critical purchase you will not go wrong if you buy the Pixhawk and the SE100 GPS from Radiolink. They also have a good documentation for the pixhawk available for download from their website.
Visit: radiolink.com.cn/doce/pixdistributors.html
For more such questions, UA-cam comments are not very efficient. The Facebook Group "Carp Pilot Pro user group" is better.
Hello, is it working with Mateksys H743-Wlite flight controller? Thanks in advance
In general, yes. Mateksys has multiple flight controllers that are compatible with ArduPilot firmware. And that's the key question. Just make sure to install the rover firmware version.
About the H743: I do not know this model specifically. Seems to be v1, v1.5, V2 and V3. Theser are all referred to in the following link. In the same link you also find the referred links for firmware. And a youtube video on how to go about installing ardupilot firmware on this particular flight controller: www.mateksys.com/?p=5159#tab-id-11
Even though Mateksys does not actually offer a link til rover (only copter and plane links available) i did find the MatekH743 under Rover/Stable-4.2.3. So I believe it is more or less straight forward. Just try...
@@TheCarpPilot Thanks a lot I will try it! Does the telemetry will work with Flysky Fs-i6 (upgraded for 14 channels) with Fs ia6b receiver? Because it is communicate through Ibus.
@@MrGaby2744 As stated I have no detailed knowledge about mateksys. But: This transmitter and radio is used by many with a pixhawk. I thus see no reason it should not work for the mateksys. Although the board looks quite different than a regular pixhawk you could probably find all the info you need on how to configure the radio by searching for flysky and pixhawk in the ardupilot discussion forums (you will likely find a lot of advice)
And one more thing: The term "telemetry" is usually associated with the data communication using a mavlink protocol between the ground station (like Carp Pilot Pro) and the autopilot (ardurover running on, in this case, the mateksys). This communication is used to inform the Carp pilot pro of the boat position, it's speed and similar and also used by Carp Pilot PRO to issue commands to the autopilot like "go to point number 2". While the radio transmitter and receiver (like your flysky) is remote control only, used when you drive the boat manually. Just to be clear, your Flysky is no way able to carry this mavlink telemetry data, it is a remote control only device. In my videos I use a Skydroid device that can do both. Some other brands can also do this, but not your Flysky. But I will also add a serial to wifi adapter for redundant telemetry in a coming video, that's something you may use. And in some mateksys devices I believe esp telemetry might even be included (just seen it with antenna sockets and esp especially mentioned). For the latter i have no idea if this built in ability actually supports mavlink or not.
@@TheCarpPilot This is not true in this formulation :"While the radio transmitter and receiver (like your flysky) is remote control only, used when you drive the boat manually. Just to be clear, your Flysky is no way able to carry this mavlink telemetry data, it is a remote control only device." All of bait boat builder in Hungary (like Panama, Ventus carpo, BBBait boat etc.) use self developt autopilot with Flysky Fsi6! And also they sold hundreds of bait boats with autopilot. I am not a professional user at all, i have just started to play with it on my boat. My Matek is communicate with the receiver through Ibus protocoll and send telemetry data like, RSSI, battery voltage, temperature, except GPS. There are tonnes of information on forums so i try to lurn. Thank you for your suggestions :)
Can I pay you to help me do this? I have a drone boat idea I want to implement to do treasure hunting, and the boat needs to be able to autonomously follow a path to cover a grid for days at a time powered by solar panels
Send email to thecarppilot@gmail.com.
What is the range of the transmitter mate
Never tested max range. According to spec it is around 5 km. But that is only relevant for drones, boats over water cannot get the same distances. I believe I heard around 800 meters in real life.
@@TheCarpPilot cheers buddy
How do you de T10 mixing ?
It is correct that the T10 has no built-in mixer. And used with Ardupilot then that's actually a good thing: The remote transmitter should not mix throttle and steering. It is cared for by the autopilot.
@@TheCarpPilot so if you are in manual model can you control the boat with one stick? Greetz
@@bartdanneels7030 which mode you are in does not matter. Tap on any marker on the map, or on one of the square boxes below, and the app will command the boat to drive to that spot. Boat will drive there and stop. Super easy.
@@TheCarpPilot yes i understand that if you are in autopilot mode that it works.
But if you want to search for spots with de remote controller its impossible to do it with one stick because de de remote can not mix the channels so de pixhawk don't no what to do.
If you have a 2 motor setup.
I have already done it with a flysky and this works great but ch1 en and ch2 are mixed on the remote controller .
Now i would do it with a T 10 but this one can not mix so thats a problem.
I have never seen someone do so many unnecessary things.. Jesus Christ
How would you do it?