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Azuritber MPU 9250

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michelko

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Hi Bernard,
i found your Firmware very interesting and started to try it.
I found some issue, maybee you can help me out.
In the console if i try the comunication menu, the menu dont´stand stil i cant chose an other comm setting.
If i setup esp to 1 and bluetooth to zero in the mower.h i cant connect to the mower. With Azurit 1.09 there is no problem
i also changed the setting of the serial port to serial1. So do i have to alter something else?
With pfodapp saving the setting will break the bluetooth connection for a pair of seconds. the Pfodapp has to reconnect to the mower.
While mowing i have several unmotivated turns. The app shows in the status periout turn ore something but in the plot i don´t see an outside signal.
Could this be noise from the motors?
Thanks in advance
Michael
 
I assume you use Level 1 Standard from WIKI:

The communication WIFI menu is not implemented, i need to remove it
Wifi ESP is not use and replace by Raspberry and in some code i reuse the ESP connector for GPS to avoid the workarround, so don't use it.

The standard communication on Level 1 Standard use PFOD or ARDUREMOTE

AzuritBer Firmware (English) – www.wiki.ardumower.de

wiki.ardumower.de wiki.ardumower.de

You can use standard HC05 from marotronic and correctly set it with AZURIT ,Better choice is ESP32 DEV KIT with ESP32_BT_Passerelle inside. I try to add it in wiki when i have time.

The main is that you need to have a perfect ARDUREMOTE or PFOD connection.

Saving the setting take 10 secondes and what you see is actualy normal (Autoreconnection of PFOD).I take a look in code if i can avoid this .

While mowing i have several unmotivated turns
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This is not normal , for more understanding (If you don't use Raspberry), simply connect a laptop using a 3 meters USB cable to mower, follow it and check Arduino IDE Console, everything is explain on it

But :

Like you suggest Noise and wet grass can generate a IN/OUT and the mower stop/rev/roll but this can only occur in the middle of area .
Try to adjust Big AREA Smag Center in setting Perimeter to avoid this.

It's also possible that BUMPER or SONAR hardware issue can generate stop/rev/roll , try to deactivate them

The max motor power is also a possible option try to increase POWER MAX value into setting motor..

But the easy way is to connect laptop or Pi on DUE and simply check what append in Console.
 
Yes i tried level 1.
I ordered some capcitors foor noise reduction.
What have you changed to shut off wlan esp? Can it be reactivated?
I need a liile more rabge because of the size of the garden.
 
Hi.
I don't understand exactly what you want to do ?
Use arduremote over WIFI ??
What's exactly big range for you (20 meters or 80 meters) ??

For big mowing area >1500 m2 ByLane mowing, RFID and raspberry really help a lot using tracking speed and fast return to station.

In all case I have activate again this feature but can't work if raspberry is used.Also i don't have ESP8266 ,so i can't test it.

See Github AZURITBER MPU9250 branch and History to understand the change
 
bernard schrieb:
Hi.
I don't understand exactly what you want to do ?
Use arduremote over WIFI ??
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Exactly this. I used Pfod App with the ESP and Wifi with Azurit 1.09 and the sheepsheep branch
and find it very comfortable to see from the Kitchen or the living what the mower is doing.
bernard schrieb:
What's exactly big range for you (20 meters or 80 meters) ??
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With bluetooth i loose conection if i am farther then 6-8m away from the mower. With Wifi i can conenct to the mower no mater where the mower or i am.
The farthest point of my lawn is aprox 50m away from my accespoint.

bernard schrieb:
For big mowing area >1500 m2 ByLane mowing, RFID and raspberry really help a lot using tracking speed and fast return to station.
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My mowing area is ca. 500m2 and i would like to test the by lane mowing.
I saw your code an foundnd it very interesting.
bernard schrieb:
In all case I have activate again this feature but can't work if raspberry is used.Also i don't have ESP8266 ,so i can't test it.

See Github AZURITBER MPU9250 branch and History to understand the change
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I will be happy to test it.
Just have to sort out what i believe is an noise issue with the turns without touching perimeter or bumper activated

Thank you for the information and your work to provide the code.

Regards Michael
 
I loaded up the new code, id the changes for the stage 1 setup without raspbery. but no connection to the esp with pfodd app.
I flashed the esp with esplink, so i can see its working because it have its own webserver running.
In the console of the Webserver i can see the init string (it is not used but so i can see the RxTX is working)
Same behaviour like your old code.
Have no idea.

Regards Michael
 

Anhänge

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    esp.jpg
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what i believe is an noise issue with the turns without touching
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On 500 m2 i am not sure ,or your receiver coil is near motor , Possible the turn is the IMU calibration ? (If the Compass is not correctly calibrate ,mower can make 3 full rev before restart and it's append every delay you set into setting IMU delay between 2 calib) or reduce the roll speed in the same menu.
Also try to deactivate the Compass and use only Gyro/Accel
But simply check into Pfod what is the state when mower roll.

For ESP i assume you have set raspberrypiUse to NO into Pfod setting / Raspberry and save setting. Also into mower.h comment the SerialUSB and uncomment Serial:
#define Console Serial
//#define Console SerialUSB

I take a look into my code (maybe into Pfod.cpp) to see what can have issue with ESP
 
Hello.
I upload the v1.43 and the ESP01 is running on my side.
I was surprise by the wifi working range of this small module (y)

You need to change it into mower.cpp ,like you suggest esp8266use or bluetooth use to select and i remove this from main menu.
wifi.png
 
Hi bernard,
Thanks for your work. Will try it tomorow. Today i did some testing without perimeter and the mower did not do the unmotivated moves as before. So its noise on the perimrter receiver. I soldered the capacitors to the motors. I will also test this soon.

Regards michael
 
Hi
I have big problems with the perimeter. I have dome spots where the mower thinks it is outside and turns.
Some places are realy near the cable some are a little away but not more then 2or3m. In the midfle of the lawn there is no problem.
I am a little confused about that.
 
Do you have some island (If you have crossed the wire it's not OK --> The inside and outside are revert and near island the mower is lost).

What is your wire length and the resistor value ?
Can you share your setting (Copy screen of console d and x) and photo of the mower and coil location.

Are you really sure it's perimeter issue and not Compass calibration (Calibration start 1 or 2 meter after leave the wire, so without perimeter it never start)
Deactivate compass in setting IMU and increase motor power max to be syre.
 
Hi Bernard,
i realy appreciate your help. One information at first: i ran an ardumower setup for ca. 3 years. it was a pcb 1.2 with the sheepsheep branch based on azurit 1.07.
I had no problems with the perimeter so far. This summer the mower decided to commit suicide and drove in to the basin of a waterfall in the garden.
The pcb and the wheelmotors where shot. So i bought the new pcb 1.3 and the new wheel motors. I also decided to upgrade tu d the due to run your code.
After that the problmes with the perimeter started. I have some spots in the garden where it thinks it is outside. Almost near the perimeter wire not realy far away from it.
What i noticed is that i had to reduce the poti on the receiver pcb. With the old setup i saw ca. 2000 smag near the cable now i see 3500.
Can this be a problme?
i will load up a video soon.
 
the first seconds of the video is near the perimeter wire. Around the banana is an island ( no problem with the old setup).
The perimeter coil/pcb is in the small grey plastik housing. i made it loose to test other positions but that doesn´t help.

 
Hello.
Is it possible to connect a laptop on mower to see Console while running ?
The first second are very strange (Perimeter issue or motor max power trig, Have you test with a bigger motor POWER MAX value ??)

If issue occur only near island the perimeter signal power is certainly too big '3500' (You can try to reduce the SENDER DC/DC voltage to see if it change something and leave the receiver poti to max).

To check the island : Try to put the mower INSIDE your island and check the MAG value (If negative it's not OK, the wire is cross) .

At 2.00 and 3.00 it's normal, mower stop and reverse because the max length value on By lane is trig (See setting Bylane LANE MAX LENGTH try 5 meters to understand how it's work ) also you can adjust a little the Yaw Opposite roll left or right to avoid the mower mow 2 time on the same lane : to do in real time mowing and immediatly check the result )
 
Bernard, i will try this with an laptop and the console maybee saturday.
I will also check the sender power and readjust if neccesary.
after some search i luckily found that by lane setting you mentioned it was hidden because of the Developer setting.
So this number was set to 9m. The garden is more than 12 m wide.
One other question: where is the direction/yaw set for the lane. do this change? or ist it always the same?

Thanks.

Michael
 
Hi Bernard, i think i found the problem. It is noise from the mower motor. If i deactivate it i see no more perimeter out.
Mower on the and the unmotivated outsides are there again.
 
where is the direction/yaw set for the lane. do this change? or is it always the same?
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It's into setting / Bylane , You need to adjust all the 9 direction while mower is running because menu automatically change according the mower direction.
I change some part into WIKI but it's not easy to explain , Don't hesitate to tell me what is not clear.

Also remember that mow pattern change after duration ,see setting / mow.

For noise Reduce mow motor speed, see setting / mow. Reduce Min and Max ,Sometime noise is more only at particular PWM
 
Hi
what is the message Loop not ok Due overload?
i tried to calibrate the compass again and saw this message:

.
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 1230
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 257
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 284
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 324
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 278
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 252
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 304
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 263
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 274
compass calibration...
rotate mower 360 degree around all three axis until NO new data are coming
x:0.00,0.00 y:0.00,0.00 z:0.00,0.00
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 277
com calib completed
0.00
0.00
0.00
0.00
Save Calibration
Calibration address Start = 600
Calibration address Stop = 650
-------- IMU CALIBRATION --------
ACCEL GYRO MPU6050 OFFSET ax: 376 ay: -1768 az: 1512 gx: 91 gy: 12 gz: -2
COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z --> comOfs=0.00,0.00,0.00
comScale=nan,nan,nan
.
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 987
------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 326
 
Hello
The LOOP NOT OK DUE IS OVERLOAD - message is normal in developper mode, it's hidden on normal mode : i use it to set the Watchdog correct value and check if everything is OK.

If the number after "Over 1 sec" is < 2000 everything is OK, in your case the 1230 and 987 are strange but no issue.

On mowing you can also see some motor warning message but if it's not every 5 sec it's OK

For Compass calibration it's not OK at all
COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z --> comOfs=0.00,0.00,0.00 --> 0 is not possible
comScale=nan,nan,nan ---> NAN is not good

After :
rotate mower 360 degree around all three axis until NO new data are coming
You need to move manually the mower after this message . .
Normally a lot of line with x,y,z different value need to appear inside console.
x:0.00,0.00 y:0.00,0.00 z:0.00,0.00 is not OK

Are you sure Use compass is set to true into setting ??
Maybe try to first delete all calibration ,reboot and restart calibration.

Here what you need to see:

compass_calib.png

And here the normal start Console:

normal_start.png

Can you show me your console start message and all the setting using d and x ?
 
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