We are having some trouble with our attitude indicators.
The compass is currently living its own life, drifting off whenever it feels like it. Sometimes it looks like it has been swapped out with the “seconds hand” of a clock. Not reliable, and without pattern.
The pitch/roll indicator seems to work “as it should”, but it is tilted (or rolled) 90deg ccw. Anyone know what can cause this? The electronics enclosure looks the same as yours does online, with the navigator “hanging” on a wall rather than laying on a floor.
We have thought about rolling the entire enclosure, but that would really mess up our camera view. Any software solutions? Using “roll 90” or “roll 270” in the “mounting rotation” (BlueOS–> Vehicle Setup–> Configure–>Compass) does not seem to work.
We calibrated the unit today. I am reading about some issues being caused by nearby metals or magnets during calibrations, so we will try recalibrating outdoors tomorrow.
Also wondering about this “fitness mGauss” indicator we got after calibrating.
Not quite sure what to do with this information, but it does not look good. See photo.
Hi @Erlingns95 -
From context, I would guess you’re dealing with a BlueROV2? What revision is it? Does it use a Navigator or Pixhawk?
It seems you haven’t loaded the correct default parameters for the ROV, since the AHRS orientation is not properly set. It would also seem your compass calibration is poor, given the behavior you’re seeing. Performing the calibration again, outside if possible should help. You can also complete the Gyroscope calibration from within BlueOS via the vehicle setup menu, with the vehicle completely static on land and warmed up, and this may help the EKF stability considerably.
Have you modified the vehicle, and potentially routed any power wires close to the autopilot?
We are working with a custom BlueROV2. Built using an original electronics enclosure, 5x T500 thrusters for mobility, and an extra T500 for some super secret stuff. 1 00% garage-built frame. I’d like to say R4, but cannot confirm 100%.
Using RPi4 under a Navigator.
You’re probably on the right track when mentioning default parameters, I really didn’t give that much thought.
We did not load any standard parameters, as our frame and build is not 100% fitting any of them.
No unnecessary cables near the Navigator, only the ones supplying it and leaving the AUX outputs.
Hi @Erlingns95 -
Loading the default parameters for the standard or heavy ROV, and then adjusting the frame type is your best bet. This will get a lot of the tuning values at least close to values that should work for your custom vehicle, and generally help with your setup process!
