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LC29HEA communicate at 460800 bps, are you sure you can have this speed on STM32. On sunray app, you need to activate absolute position mode and set your base station location. On LC29HEA module the 2 switchs need the up position (UART and not USB). Into config.h , you need to activate NMEA...

If you use NMEA message ,you don't have dgpsAge and numSVdgps , but it's not mandatory to have a perfect working mower. Most important is the RTK FIX and perfect same location over time (Same docking position after 1 year for example)

If you take a look at the GNGGA message at location 6 ,you can see value 1. It's mean that your GPS receiver is not in RTK mode , you need to see value 4 or 5 Here a Quectel LC29HEA output that work with sunray and skytrack option activate.

My firmware based on the one from @hanoba do this, but it's actually not compatible with sunray app or Cassandra. https://forum.ardumower.de/threads/mein-ardumower-mit-moonlight-firmware.25088/post-58710 I can share this part if someone need it.

Did it work if you deactivate gps speed detection into config.h #define GPS_SPEED_DETECTION true // will detect obstacles via GPS feedback (no speed) - recommended //#define GPS_SPEED_DETECTION false You can also try to change the delta value or debug it to see the real difference between...

it's old wiki , but you can find some info for arduino ide here : https://www.wiki.ardumower.de/index.php?title=AzuritBer_Pi_Firmware_(English)#Arduino_IDE. It was for raspbian, so maybe some change to use it into bookworm or bulleyes

It's important to have a correct odometry and mower platform setting to avoid issue and have smooth drive on the grass. I made here so many change in 2 years that i don't know if i can explain everything here but: To check everything the test code 10 rev is not enough , you need to add more...

In all case my post was only to help understanding the burning issue of many driver , and i think the 20 sec is too large . Yes i thing heatsinks is mandatory for this kind of motor driver. Maybe you can create a post and add picture of heatsink on marotronics driver. I use Teensy and INA226...

HI. I follow your work and see also many people with driver motor issue. As you understand sunray code maybe you check if i am not wrong. into robot.cpp if (ENABLE_OVERLOAD_DETECTION) { //bber800 if (motor.motorOverloadDuration > 2000) //20000 in the master but too dangerous for...

into config.h, did you activate USE_LINEAR_SPEED_RAMP If yes test without ! //#define USE_LINEAR_SPEED_RAMP true // use a speed ramp for the linear speed #define USE_LINEAR_SPEED_RAMP false // do not use a speed ramp

I ordered the 2.5V version to directly correct 3.3V controller to the PCB with 2 small resistor to reduce 3.3V to 2.5V. With 5V version you need to use a 5V controller or use a level shifter ,or do not have max speed. Now for the safe start : In the past i test green driver JYQD V1 and they...

YL02D is easier for 2 wheels drive, but i don't know how to manage the motor right or left sense, only the sense is measure on the power input of the board. Other is the version : i see 4 version with 2.5V and 5V or with or without safe start that i don't really understand. So i have ordered the...

I think you need to first test with a simple 3.3V MCU ESP32 or ESP8266. You also need to add a Pull down or Pull up resistor on the brake line . If i remember my test : pwm on brake was OK.

No problem, but did you see this one for 2 motors...

To build the firmware for banana pi It's into Alfred manual page 22 and 23.

Very often watchdog reset is generate by sdcard issue. So initial check is a test for long mowing duration without sdcard to be sure .

did you post PCB kicad file and code for pico ??

I also see this behaviour last year. Be patient each time you click on a point ;) . But my main issue was to record a map (Always need to swap between manual and record mode). Maybe last version is better. I also have a PI5 here and my test was on Pi3B+ so i need to take time to swap them...

Thanks. But i don't understand the wiring. Do you know if we can simply plug : GND your black wire 3.3VCC your red wire and have the bumper digidal output according location of the cover on your yellow white orange wire Or it's serial com on the output ?? Why use a pico and not directly input...

Yes it's a good platform. ;) In my rebuild using ZS-X11H driver the only issue is the management of the negative torque on the wheel and it can make trouble on slope. Motor are very small and gear ratio is low , so mower can run very fast and have a very low power consummation. but have trouble...