AtTrac Mapping Boat Test
ฝัง
- เผยแพร่เมื่อ 7 ก.ย. 2024
- First test of the AtTrac (attraclab.com/hp/) mapping boat. Components include the AtTrac designed ABS frame, Hex Cube Black autopilot running ArduPilot Rover-3.5.1, BlueRobotics T200 thrusters and Basic ESCs, Two 7500mAh 3S batteries and 900mHz Sik radio for telemetry.
This boat has a higher payload capacity and handles waves better than the boogie board mapping boat.
This is the first time I've tested the vehicle so tuning is not yet perfect. In particular it turns too far when "pivot turning" in corners.
AtTrac store: store.shopping...
![[Live] : ONE 168 วันนี้!! "โจนาธาน vs ซุปเปอร์เล็ก"](http://i.ytimg.com/vi/0jIN65KgJsI/mqdefault.jpg)
I really like that boat frame. I hope they do decide to sell it. I have YET to begin construction of my boogie board mapping boat. I have all the materials, just haven't had time. It is coming soon, however. I do think this new frame would be superior. By the way, I struggle with getting my mower not to turn too far on pivot turns. I used to blame it on my slow actuators, but I have fast ones now and still have the exact same overshoot on the turns. Once I spend a little more time with it, I will post to the forum for help. Thanks for this video!
Beautiful nature, time, and boat what else would one need? :) Is the corpus made from the help of vacuum?
Hi Valkan, I'm not actually sure how the frame is made but it appears to be made from two plastic parts (top and bottom) that are glued together.
@@rmackay9 I thought that you did it, but still lovely channel!
I like it.
Please share how build all autonomus procedure, I have the boat as RC at this time thanks
Please share how build all autonomus procedure, I have the boat as RC at this time thanks.
What kind of screws did you use to mount the thrusters without breaking the foam?
Hi Mangekyou, I used the blue robotics thruster mounting brackets. bluerobotics.com/store/thrusters/t100-t200-thrusters/t100-p-bracket-r1/
@@rmackay9 I have the mounting brackets. But did you just use standard bolts to mount the brackets to the styrofoam?
@@mangekyousharingan9710 This white boat is some kind of plastic (ABS?) so just using the mounts was fine. I think we used some white waterproof marine adhesive to pass the thruster cable through the hull. For the boogie board boat that is made of foam I had some carbon fibre plates made which were put on both sides of the foam (a bit like a sandwich) to spread out the force from the brackets (see wiki here: ardupilot.org/rover/docs/reference-frames-boogieboard-boat.html )
@@rmackay9 I see. Thanks for sharing. Your links on the wiki don't work though :(
@@mangekyousharingan9710 Really? I click on the links and they work. ardupilot.org/rover/docs/reference-frames-boogieboard-boat.html
hello i need your advice i would like to put an avoidance lidar on my rov boat is this possible?
What echosounder did you used? Say more details, please.
The echosounder is an AquaMagic made by AquaFusion (a Japanese company) but it was not directly connected to the autopilot running ArduPilot. Instead it was connected to a companion computer (a miniature windows PC) which did a lot of the processing of the sonar's raw output. The project this boat is being used for very specifically required using this AquaMagic. In general I would recommend using one of the sonars that AP has a driver for: ardupilot.org/rover/docs/common-underwater-sonars-landingpage.html
Do you think it would be possible for you to share the parameters? I have a similar project I am working on currently but have not been able to successfully setup my steering correctly. My throttle works fine, but the steering stick on my Taranis X9D struggles to make left/right turns. If stick position is moved too quickly, the motors just completely stop, causing me to have to reboot the whole system.
If you wouldn't mind sharing the parameters, I would greatly appreciate it! I have been stuck on this issue for weeks now and haven't been able to find any help online!
Hi Joselinn, I see your post on the forums so I'll reply there.
Do you recommend to use GNSS RTK GPS for more accuracy? What type of RTK should I use with ardupilot?
I don't personally use RTK GPSs because they often have a slow startup time. I think the best value for an RTK GPS is the UBlox F9 GPS like this one from Drotek store.drotek.com/sirius-rtk-gnss-rover-f9p
When testing the boat what test would you recommend to perform and what should I be looking for.
Hi Jordan, sorry I didn't see your comment and it's probably too late now but when setting up a new boat, I start with checking the motor direction. then driving in manual mode. Then I tune the steering controller, then the turn rate controller and then finally navigation. ardupilot.org/rover/docs/rover-tuning-process.html. We've released a new Rover-4.1.0-beta1 firmware so I'm actively responding to questions in this category: discuss.ardupilot.org/c/ardurover/rover-41/158
Hi Randy! is there any wiring diagram? I have confusion, Should we use BlueRobotics T200 two of CW motor or 1 CW and other 1 CCW?
Hi Nilantha, there's no specific wiring diagram I'm afraid except for what's on AP's skid steering setup wiki page (ardupilot.org/rover/docs/rover-motor-and-servo-connections.html#skid-steering). I setup my boat so that the left motor is CW and the right is CCW. I think it is best to have one CW and the other CCW but I don't think it matters much which one is which. I guess like on a multicopter there is a bit of torque which will tend to roll the vehicle in the opposite direction from the way the motor spins but it's so weak compared to the weight of the vehicle I don't think it matters much. On a powerboat it would matter. For example in the video (on this channel) of my power boat you can see the lean of the vehicle caused by the single motor.
@@rmackay9 Thank you for your replay and have one question should we use batteries as parallel or serial?
@@nilanthasaluwadana2387 Normally in parallel or the voltage will become too high. So I normally use a couple of 7000mAh 3S batteries. Remember that if you connect two batteries to a single power module (normally using a Y cable) the voltage of the two batteries should be very close to each other.
do you have a basic navigation parameter to advise me?
Randy, I am thinking to purchase this boat, but I can no longer find it at the link you provided. Can you provide a new link?
Here's the link to the (Japanese) yahoo store: store.shopping.yahoo.co.jp/attrac-shop/atp801.html. best of luck.
@@rmackay9 Thanks!
Is the link you posted a link to the boat hull?
@ShadowQuad, the link is to the AtTrac website (Japanese only) that makes the boat frames. It's a new frame so they haven't started selling them yet. This company mostly focuses on selling complete solutions and prototypes to companies so they may not sell just the frame... we shall see.
@@rmackay9 It's a good size. I guess I will try the Flytec Bait Boat as my first kit.
That boat frame could be a nice 3D printing project.
ShadowQuad will flytec bait boat work with pixhawk? Does it come with esc port that can be connected to pixhawk?
@@hanlinniu It looks simple enough. You would have to treat it like a rover and use some sort of motor controller board (sabertooth, etc)
Hi,
I am using the pixhawk 2.4.8 (Firmware Ardurover V3.5.1, FRAME_CLASS : 2) on a homemade aluminum jet boat th-cam.com/video/_M_LrJ1xt7k/w-d-xo.html and I am facing problem with the steering. With the pixhawk in manual mode I can adjust the max angle of servo via the Taranis transmiter and the steering works fine. In RTL mode or Loiter the steering doesn’t work correct (the servo goes to maximun position). I have tunned the steering rate but without success.
Could you help me please?
Hi eNTertainment, very cool boat. it's likely that both the input and output steering are reversed. So probably need to go to Mission Planner's Servo Output screen and click on the "Reverse" checkbox next to the Steering (output) channel which is normally channel 1. there's a picture on this wiki page: ardupilot.org/rover/docs/rover-motor-and-servo-configuration.html. You'll very likely need to reverse the steering in the transmitter as well or perhaps you can check the "Reverse" checkbox next to the "Roll" channel (bad name I know) on the Radio Calibration page (ardupilot.org/rover/docs/common-radio-control-calibration.html). It's probably a good idea to use the "Motor Test" feature which is shown at the bottom of the page linked above.
@@rmackay9 Thank you! I will try this!!
Please share how build all autonomus procedure, I have the boat as RC at this time thanks
Hi David, our wiki is here: ardupilot.org/rover/index.html and the support forums are here: discuss.ardupilot.org/c/ardurover/rover-4-0/154. The first thing you'll need is an autopilot and there are many to choose from: ardupilot.org/rover/docs/common-thecube-overview.html
@@rmackay9 Bro, the problem is that I can't get the motors to rotate in the opposite direction to make tight turns. Do you have any idea what parameter I have to modify to be able to make tight turns in which a motor spins in the opposite direction?
Hi@@DavidGutierrezhi, it may be that the ESCs cannot spin the motors backwards. In any case, it's best to post (including an onboard log) in the Rover or Boat support forums. discuss.ardupilot.org/c/ardurover/arduboat/54 discuss.ardupilot.org/c/ardurover/arduboat/54