-----------------------------------------------------
UBLOX::begin serial
using gps driver: UBLOX
trying to connect to ublox f9p...
NOTE: if GPS is not responding either set 'GPS_CONFIG=false' in config.h or perform GPS wire fix (see Wiki)
trying baud 115200
ERROR: GPS receiver is not responding
trying baud 38400
GPS receiver found!
ublox f9p: sending GPS rover configuration...
idx=0...OK
idx=1...OK
idx=2...OK
config sent successfully
sizeof Point=4
map dump - mapCRC=0
points:
perimeter pts: 0
exclusion pts: 0
exclusions: 0
dock pts: 0
mow pts: 0
free pts: 0
mowPointsIdx=0 dockPointsIdx=0 freePointsIdx=0 wayMode=3
probing for ESP8266 (NOTE: will fail for
ESP32)...
WIFI (ESP8266) not found! If you have ESP8266 and the problem persist, you may need to flash your ESP to firmware 2.2.1
MPU ID=0x68
MPU6050/9150 found
using imu driver: MpuDriver
WARN: PID unmet cycle time Ta=5.41 TaMax=0.07
WARN: PID unmet cycle time Ta=5.41 TaMax=0.07
batTemp=0.0 cpuTemp=0
==> changeOp:ImuCalibration->Idle
IMU gyro calibration (robot must be static)... 1
[Ardumower steht völlig ruhig]
0:0:12 ctlDur=0.00 op=ImuCalibration->Idle freem=81815 sp=2 bat=0.00(0.00) chg=0.00(0.00) tg=0.00,0.00 x=0.00 y=0.00 delta=0.00 tow=203670000 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.00
ublox chka error, msgclass=1, msgid=43, msglen=18: 4F!=10
IMU gyro calibration (robot must be static)... 2
IMU gyro calibration (robot must be static)... 3
IMU gyro calibration (robot must be static)... 4
IMU gyro calibration (robot must be static)... 5
0:0:17 ctlDur=0.02 op=ImuCalibration->Idle freem=81815 sp=2 bat=26.76(0.00) chg=0.03(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.00 tow=203676200 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=1.14
IMU gyro calibration (robot must be static)... 6
IMU gyro calibration (robot must be static)... 7
IMU gyro calibration (robot must be static)... 8
IMU gyro calibration (robot must be static)... 9
IMU gyro calibration (robot must be static)... 10
0:0:22 ctlDur=0.02 op=ImuCalibration->Idle freem=81815 sp=2 bat=26.78(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.00 tow=203681200 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=1.09
IMU gyro calibration (robot must be static)... 11
IMU gyro calibration (robot must be static)... 12
IMU gyro calibration (robot must be static)... 13
IMU gyro calibration (robot must be static)... 14
IMU gyro calibration (robot must be static)... 15
==> changeOp:Idle
OP_IDLE
IMU tilt: ypr=-35.69,-44.80,115.98 rollChange=110.18 pitchChange=-42.56
[Ardumower steht die ganze Zeit völlig ruhig]
0:0:27 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=-0.76 tow=203686200 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.84
0:0:32 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.75 tow=203691200 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.29
0:0:37 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.79 tow=203696200 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.74
0:0:42 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.79 tow=203701200 lon=-49.99598749 lat=59.82961312 h=15949.4 n=0.00 e=0.00 d=0.00 sol=0 age=0.49
0:0:47 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.81 tow=203706200 lon=-58.69070706 lat=53.47577495 h=13768.8 n=0.00 e=0.00 d=0.00 sol=0 age=0.72
0:0:52 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.80 tow=203711200 lon=-59.13237247 lat=53.58124583 h=13806.5 n=0.00 e=0.00 d=0.00 sol=0 age=0.21
0:0:57 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.80 tow=203716200 lon=-58.50262758 lat=53.01024971 h=13601.8 n=0.00 e=0.00 d=0.00 sol=0 age=0.43
0:1:2 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.81(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.79 tow=203721200 lon=-58.55625459 lat=52.98905781 h=13594.2 n=0.00 e=0.00 d=0.00 sol=0 age=0.60
0:1:7 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.80 tow=203726200 lon=-58.98182375 lat=53.09231233 h=13631.3 n=0.00 e=0.00 d=0.00 sol=0 age=0.31
[Ardumower wird ca 30° hinten angehoben]
batTemp=0.0 cpuTemp=0
0:1:12 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.41 tow=203731200 lon=-57.61375267 lat=52.44385393 h=13397.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.95
0:1:17 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.40 tow=203736200 lon=-58.15368358 lat=53.20203333 h=13670.7 n=0.00 e=0.00 d=0.00 sol=0 age=0.27
0:1:22 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.38 tow=203741200 lon=-58.89119647 lat=53.23407954 h=13682.2 n=0.00 e=0.00 d=0.00 sol=0 age=0.23
0:1:27 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.64 tow=203746200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.86
[Ardumower wird auf 90° angehoben]
0:1:32 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.52 tow=203751200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.84
0:1:37 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.63 tow=203756200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.75
IMU tilt: ypr=2.99,-82.83,63.34 rollChange=23.02 pitchChange=2.38
[Ardumower wird wieder abgestellt = 0°]
0:1:42 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.45 tow=203761200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.45
0:1:47 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.48 tow=203766200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.24
0:1:52 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.03(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.80 tow=203771200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.16
0:1:57 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.81 tow=203776200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.32
[Ardumower wird nach rechts gedreht]
IMU tilt: ypr=108.52,-85.41,-43.46 rollChange=-59.67 pitchChange=0.97
0:2:2 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=1.02 tow=203781200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.03
0:2:7 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.84 tow=203786200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.01
batTemp=0.0 cpuTemp=0
0:2:12 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.83 tow=203791200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=1.37
0:2:17 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.05(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.84 tow=203796200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.18
0:2:22 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.84 tow=203801200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.12
[Ardumower wird wieder nach links gedreht]
IMU tilt: ypr=1.19,-82.40,64.76 rollChange=44.59 pitchChange=3.95
0:2:27 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.80(0.00) chg=0.03(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.73 tow=203806200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.28
0:2:32 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.74 tow=203811200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.01
0:2:37 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.81 tow=203816200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.88
0:2:42 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.81 tow=203821200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.12
0:2:47 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.83 tow=203826200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.33
0:2:52 ctlDur=0.02 op=Idle freem=81815 sp=2 bat=26.79(0.00) chg=0.04(0.05) tg=0.00,0.00 x=0.00 y=0.00 delta=0.81 tow=203831200 lon=x.x9194543 lat=xx.x3623484 h=338.6 n=0.00 e=0.00 d=0.00 sol=0 age=0.99
[/ISPOILER]