RFID On PCB1.3

[stockfisch]

Hi
Yes, the console is empty. But this was also OK before. The lot Errors startet only as I tried the mow on wire mode.
As you have seen in my Logs the normal mowing is nearly without Errors.
I deactivated IMU because I have not seen any benefit. I will give it a chance again.
Best,
Bjoern

 

[bernard]

Ok if it is only in wire mowing ,certainly you have not update the robot.py.
Check it on github and replace the 2 line concerning state and status ,or replace all the file.

 

[bernard]

Ok if it is only in wire mowing ,certainly you have not update the robot.py.
Check it on github and replace the 2 line concerning state and status ,or replace all the file.

 

[stockfisch]

Hello
Thanks. Will try the update.
One question about start to mow.
In Timer I can adjust the length what the mower drive on wire before starting to mow.
This function is very good to reach areas far away (without rfid)
But where can I adjust this value when I start the mowing manual? When I start mower in station manual he
leaves the station, passed it like in Timer but the mower follow the wire too long distance. It looks like 1-2m. But I need max 1m.
Which value is this "Follow wire before mow in manual started mode"?
Thanks and good day
Bjoern

 

[bernard]

It looks like 1-2m. But I need max 1m.

It's actualy always a fix value to 2 into pfod.cpp line 1328
You can change it but it 's integer and the min value is 1,No problem for me to set it to 1 on the next update.

But after go Back to main screen and then go back to RFID the new Tag was gone.

I have tested with more than 25 tags and no issue, when you change from main screen to rfid screen the tag can't be delete ??????


To be sure make a backup of your tag_list.bin file and upload again all the new PiArdumower folder from github, flash again the due with the last github version.
Try to add 25 tag on my actual version, normaly it's OK.
Reload your backup tag_list.bin and test again and tell me.


To avoid always copy all the file you need to check on GitHub https://github.com/Boilevin/AzuritBer/tree/RFID Under Code page Click on '49 Commits'
Here you can see the name of the files that i have changed and the detail of the line (Green are add , red are delete).

 

[stockfisch]

Hello
I have done everything you said. Thanks for all.
I also activated IMU again.
In moment it looks very good. Now i have no errors during mowing on wire.
Is it ok that i get the message that a Tag is not in database when the mower read the Tag during mowing on wire?
For me it is ok because the mower should ignore this tags in this mode :cheer:
About my problem with save more then 20 RFID: I think that i forget to hit the "Save to file" button. After restart the Pi the new added Tags are gone without saving.
I changed the length to 1m in pfod.cpp but i could not test. To much rain in this moment.
It is time to think about a good rainsensor
Thanks and best regards,
Bjoern

 

[bernard]

For me it is ok because the mower should ignore this tags in this mode

Yes exactly.
You can add one tag on the wire 80cm before the station to slow the speed before docking.
Param are
Tag Nr: the tag you put on ground
Status : WIRE_MOWING
What to do : SPEED
Speed : 80 for example
Angle1 : 0 /not use for SPEED
Distance1 : 200 /The 2 meters on reduce speed
Angle2 : 0 /not use for SPEED
Distance2 : 0 /not use for SPEED

And a second setting:
Tag Nr: the tag you put on ground (same as before
Status : BACK_TO_STATION
What to do : SPEED
Speed : 80 for example
Angle1 : 0 /not use for SPEED
Distance1 : 200 /The 2 meters on reduce speed
Angle2 : 0 /not use for SPEED
Distance2 : 0 /not use for SPEED

t is time to think about a good rainsensor

Unfortunatly i don't have WIFI in all my garden ,soI work on a new communicating sender for charging station with a rain mesurement to stop the timer for 24 or 48 hour according to the real rain fall. https://www.gotronic.fr/art-capteur-pluviometre-25974.htm The PCB could be the same as the one use for RFID
The ESP32 is used here to send signal and communicate with the Raspberry PI.

See later if it can work

 

[stockfisch]

Hello
The idea with the rainsensor stationary sounds good.
Today i remotly started my mower over VNC from far away
But the mowing time was short. He stopped after a few minutes with "IMU Roll / Tilt" direct on the area.
Message in LOG:
13:25:25 Error : IMU Roll / Tilt---------------------------------------------------------------------------- -- > 0 / 52

Before this error i have had this:
13:25:24 NORMALMOWING / POUTROLL Dir 1 State changed at 69409629 From state POUTREV
13:25:22 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=50 pwmLeft=-50 On state POUTREV
13:25:22 NORMALMOWING / POUTREV Dir 1 State changed at 69407706 From state POUTSTOP
13:25:22 Warning can t peri out stop in time
13:25:19 NORMALMOWING / POUTSTOP Dir 1 State changed at 69403883 From state FRWODO
13:25:19 Perimeter trigger at : 69403883
Which motor parameter do i have to tweak?

Before this Error i have this one time failed Calibration:
13:14:22 NORMALMOWING / POUTSTOP Dir 0 State changed at 68747734 From state FRWODO
13:14:22 Perimeter trigger at : 68747734
13:14:12 NORMALMOWING / FRWODO Dir 0 State changed at 68736749 From state AUTOCALIB
13:14:11 Calib OK next state out rev
13:14:11 4 sec of read value, verify if the drift is stop
13:14:07 Calib BAD wait again 4 sec
13:14:07 4 sec of read value, verify if the drift is stop
13:14:03 NORMALMOWING / AUTOCALIB Dir 0 State changed at 68728096 From state STOPCALIB
13:14:03 NORMALMOWING / STOPCALIB Dir 0 State changed at 68727926 From state ROLLTOFINDYAW
13:13:43 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 68708020 From state FINDYAWSTOP

So actualy my mower will work better without IMU
Do you have an idea what to do with Motor parameter?
Do you have an idea where i can change the tollerance for Roll / Tilt?

One questions more: Do you have experience with using the Raspberry Pi Zero and your software? Will it work on this Pi also?
I like the size and the power consumption.

Thanks and best regards,
Bjoern

 

[bernard]

PLEASE Again try with the IMU.
It can help me to understand this error

13:25:25 Error : IMU Roll / Tilt

Here it's complex because i also see this error ,but only 1 time after 1 or 2 Week in Auto.

13:25:22 Warning can t peri out stop in time

Here it's normal and this is the result of the Setting motor SpeedOdoMinimum value.
The mower use odometry and the actual value is for example 13950 and the goal is 14000, If the SpeedOdoMinimum is too low,or the mower is on a slope, the motor have not enough torque to reach the Odometry cible 14000.So a timeout is automaticly trigger and the mower continue to run normaly after a small pause.
So if you have 10 or 20 messages like this in 1 hour ,you don't need to change the setting ,or simply increase a little the SpeedOdoMinimum. .

WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=50 pwmLeft=-50 On state PO

It's also a normal message just after the previous one (It's possible that it' s repeat one 10 or 20 line until motor accel.
Again 10 or 20 time in 1 hour is normal.

These 2 messages are using to check the correct setting of the motor and maybe i activate them in the futur only if developer is set to Yes.
But if you see them not very often it's that your setting are perfect.

13:14:07 Calib BAD wait again 4 sec

Here it's the IMU setting but what you see here is perfectly normal.
I need to change the word CALIB,
Here the mower stop to move and read the GYRO during 4 Sec,if the difference between max and min value is greater than 0.05 degres for example the mower wait again 4 secondes more and etc until the GYRO stop to drift or the Calib Duration In Sec is trigger.

If you don't use the By lane mowing you can easily change value into setting Imu
Calib Duration in Sec : Leave it near 30 secondes
Delay Between 2 Calib in Sec : set it to max (600)
Maxi Drift per Secondes in Deg : Set it to 0.3
And with these setting normaly the mower wait a minimum and only each 10 minutes.

tollerance for Roll / Tilt?

It's line 4401 in robot.cpp and set to 40
The tilt return a value of 52 in your error and it's not a real value and i need to understand why sometimes the tilt or roll are totaly wrong.
I certainly need to add a filter to avoid this only 50 ms bad reading

Raspberry Pi Zero

I never test it for a long time
And the result show that you can't use the Video or the CPU is always 100% and starting is very slow but the soft work.
Also to create the SD Card it's take a long time so it's better to create a clone of your SD Card and test.

 

[stockfisch]

Hello and thanks
Ok, switched IMU on again with this changes:
Calib Duration in Sec : 30
Delay Between 2 Calib in Sec : 600
Maxi Drift per Secondes in Deg : 0.3

After 30min the mower stopped near the wire at the end of the gras. In console no Error or messages about stopping. Just stopped. No chance to Manual moving over Pi.
Then i oppened Arduremote: There were 255 motor left errors in Error counter.
So now i increase the SpeedOdoMinimum from 50 to 55. Ist this the right way?

After battery was empty the mower wanted to go home. On wire he found RFID. But he found the same RFID 2 times. First time he turned 90° like i want.
Then the mower found the same again and turned again 90°. :S
Here is the LOG:
18:02:22 BACKTOSTATION / PFND Dir 0 State changed at 2724067 From state ROLLTOTAG
18:02:22 Area In Mowing 1 Area To Go 1
18:02:17 BACKTOSTATION / ROLLTOTAG Dir 0 State changed at 2719802 From state TRACKSTOP
18:02:17 New PeriFind Heading -159.81
18:02:17 Actual Heading 110.19
18:02:16 BACKTOSTATION / TRACKSTOP Dir 0 State changed at 2718820 From state ROLLTOTAG
18:02:16 RFID Find faster return
18:02:16 RFID Tag find ToDO is: RTS
18:02:16 Find a tag : 99C10A9
18:02:13 BACKTOSTATION / ROLLTOTAG Dir 0 State changed at 2715886 From state TRACKSTOP
18:02:13 New PeriFind Heading 110.48
18:02:13 Actual Heading 20.48
18:02:12 BACKTOSTATION / TRACKSTOP Dir 0 State changed at 2714845 From state PTRK
18:02:12 RFID Find faster return
18:02:12 RFID Tag find ToDO is: RTS
18:02:12 Find a tag : 99C10A9
18:01:54 BACKTOSTATION / PTRK Dir 0 State changed at 2696596 From state ROLLSTOPTOTRACK
18:01:53 BACKTOSTATION / ROLLSTOPTOTRACK Dir 0 State changed at 2695953 From state ROLLTOTRACK
18:01:52 BACKTOSTATION / ROLLTOTRACK Dir 0 State changed at 2694361 From state STOPTOTRACK
18:01:51 BACKTOSTATION / STOPTOTRACK Dir 0 State changed at 2693366 From state PFND
18:01:51 Not inside so start to track the wire
18:01:45 BACKTOSTATION / PFND Dir 0 State changed at 2687227 From state OFF

Do we need a pause between 2 readings? Or do i have a wrong state in my parameter of this tag?
My parameter of this TAG are:
TAG Nr: 99C10A9
Status: BACK_TO_STATION
What to Do: RTS
Speed: 200
Angle1: 90
Dist1: 120
Angle 2: 90
Dist 2: 120

One question more: For me it looks like that with IMU On the mower drive a little bit more over the wire then with IMU Off.
Can this be possible?
Now battery is complete empty. No chance to test more today.
Best regards,
Bjoern

 

[bernard]

In console no Error or messages about stopping

Strange but certainly i didn't manage the 255 error on drive motor ,I check this behaviour when counter reach 255
Can you find into log folder the console file about this stop or the Pi was freeze ?

There were 255 motor left errors in Error counter.

Normaly not possible to have this without message in the console,
Certainly a lot of message on motor power max
Maybe try to increase the motor power max . And check if there is no problem on your left Wheel.

So now i increase the SpeedOdoMinimum from 50 to 55. Ist this the right way?

This change nothing on the above issue but help to avoid some pause between state and warning message in console,but it's not the issue.

But he found the same RFID 2 times.

here i need more info on the location of the reader in your chassis.
Certainly when the mower roll The distance between tag and reader don't increase enough and it can read again the tag.
Put the tag more under the ground to be sure BUT:
I agree with : Do we need a pause between 2 readings and i check the code to solve this and never send 2 times the same tag in less than 3 or 4 secondes.

Or do i have a wrong state in my parameter of this tag

No problem but it's better to use perfect angle1 to reach the station from the tag location and not always 90 deg.
Also i use speed at 255 to go faster on station.

a little bit more over the wire then with IMU Off.

Normaly no it's the distance you have set into motor setting Stop Distance / Perimeter

Try to show me a log from 1 hour mowing or check if there is no particular message concerning power motor left or something else.

 

[stockfisch]

Hello
I checked my wheels and motors. Everything looked good.
My RFID reader is direct between the rear wheels. So it is direct on rotating point.
My mower rotates nearly direct on Tag.
I think 2 or 3 secounds are not enough as a pause for reading again. 20-30s are better.
Today i gave the IMU the next chance. Perhaps the last
- I startet mower with timer and a 20m delay on wire
- The mower left the station perfect
- He followed the wire the 20m
- He turned 90° right
- He switched mower motors on and move forward
- After a few meter he stopped
- He starts to make a circle (Calibration?) No mower error state circle, no high gras
- He made 2-3 turns (Again: No spirale)
- Then stopped
- Error beeb starts. Different sounds
- Error beebs dont stop
- I locked in with Arduremote because in this area of garden is no Wlan
- Error counter in Arduremote: 3x PTC Error (Dont know what this is)
- I was not able to clear this.
- Only chance was to reboot everything
- So Raspberry Log was gone
- Then switched off IMU and finished over 1h mowing without any Error in console or Log.
Actual i see no sense for me to use the IMU. Evertime i try it i have a problem. Without IMU i nearly have no problems.
Best regards,
Bjoern

 

[bernard]

He made 2-3 turns (Again: No spirale)

The mower roll slowly and try to find the Compass yaw = 25 deg for example but can't find this value
It's a compass calibration issue.
Into setting IMU you can see in real time the Gyro and compass YAW ,Certainly compass is totaly wrong when you turn the mower.
Do Calibration again (Compass not GYRO)
Click on time to start , roll the mower arround all possible axes and check into pi console to see the new incomming value (also upside down) click again to stop and save calib data..
Try again to start to mow using timer to see if it's OK.
The mower need to do 2 turns max to find Yaw stop and beep until drift is stop (Maxi 30 secondes) and continue to mow.

Error beeb starts. Different sounds

I Don't understand why the mower stop here.

3x PTC Error (Dont know what this is)

?????? are you sure it's not RTC

So Raspberry Log was gone

Have you check into the log directory (When the Due go into error the console is automaticly save if PI receive data).

Actual i see no sense for me to use the IMU

All the direction after RFID tag read use the IMU
It can work with odometry but with a bad result.


For RFID 2 read issue can you tell me your Stop Distance / Perimeter setting value

 

[stockfisch]

Good morning

The mower need to do 2 turns max to find Yaw stop and beep until drift is stop (Maxi 30 secondes) and continue to mow.

Yes. I have this seen often. But this time he did not start again

PTC?????? are you sure it's not RTC

Yes. You are right. It was 3 times RTC error. That happens without glasses viewing smartphones. :woohoo:
What does this error mean? It is the Real Time Clock. Or not?

Here are all my setting. In moment IMU is switched off. Will give it a chance again today and follow your words about do calib again.
Thanks and have a good day
Bjoern

09:09:17 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 3674
09:09:17 statsBatteryChargingCapacityAverage in mAh : 823.42
09:09:17 statsBatteryChargingCapacityTotal in Ah : 21.41
09:09:17 statsBatteryChargingCapacityTrip in mAh : 1176.34
09:09:17 statsBatteryChargingCounterTotal : 26
09:09:17 statsMowTimeMinutesTotal : 1225
09:09:17 statsMowTimeMinutesTrip : 77
09:09:17 ---------- robot stats ---------------------------------------
09:09:17 esp8266ConfigString : 1234567321
09:09:17 esp8266Use : 0
09:09:17 ---------- esp8266 ------------------------------------------
09:09:17 bluetoothuse : 1
09:09:17 ---------- bluetooth-----------------------------------------
09:09:17 timerUse : 1
09:09:16 ---------- timer ---------------------------------------------
09:09:16 userSwitch3 : 0
09:09:16 userSwitch2 : 0
09:09:16 userSwitch1 : 0
09:09:16 ---------- user-defined switch -------------------------------
09:09:16 mowPatternDurationMax : 120
09:09:16 buttonUse : 1
09:09:16 ---------- other ---------------------------------------------
09:09:16 RaspberryPIUse : 1
09:09:16 ---------- RASPBERRY PI-----------------------------------------
09:09:16 rfidUse : 1
09:09:16 ---------- RFID -----------------------------------------------
09:09:16 gpsSpeedIgnoreTime : 5000
09:09:16 stuckIfGpsSpeedBelow : 0.20
09:09:16 gpsUse : 0
09:09:16 ---------- GPS -----------------------------------------------
09:09:16 odometryLeftSwapDir : 0
09:09:16 odometryRightSwapDir : 0
09:09:16 odometryWheelBaseCm : 50.00
09:09:16 odometryTicksPerCm : 10.50
09:09:16 odometryTicksPerRevolution : 674
09:09:16 ---------- odometry ------------------------------------------
09:09:16 dockingSpeed : 60
09:09:16 UseBumperDock : 0
09:09:16 stationCheckDist : 2
09:09:16 stationForwDist : 30
09:09:16 stationRollAngle : 50
09:09:16 stationRevDist : 134
09:09:16 ---------- charging station ----------------------------------
09:09:16 chgNull : 2
09:09:16 chgChange : 0
09:09:16 chgSense : 185.00
09:09:16 batSenseFactor : 1.11
09:09:16 chgSenseZero : 511.00
09:09:16 chargingTimeout : 18000000
09:09:16 startChargingIfBelow : 27.10
09:09:16 batFullCurrent : 0.20
09:09:16 batChargingCurrentMax : 2.00
09:09:16 batFull : 29.40
09:09:16 batChgFactor : 10.89
09:09:16 batFactor : 10.88
09:09:16 batSwitchOffIfIdle : 20
09:09:16 batSwitchOffIfBelow : 23.00
09:09:15 batGoHomeIfBelow : 24.50
09:09:15 batMonitor : 1
09:09:15 ---------- battery -------------------------------------------
09:09:15 remoteUse : 0
09:09:15 ---------- model R/C -----------------------------------------
09:09:15 maxDurationDmpAutocalib : 30
09:09:15 delayBetweenTwoDmpAutocalib : 600
09:09:15 maxDriftPerSecond : 0.30
09:09:15 imuDirPID.Kd : 0.00
09:09:15 imuDirPID.Ki : 3.30
09:09:15 imuDirPID.Kp : 4.40
09:09:15 stopMotorDuringCalib : 0
09:09:15 imuUse : 0
09:09:15 ---------- IMU (compass/accel/gyro) --------------------------
09:09:15 lawnSensorUse : 0
09:09:15 ---------- lawn sensor ---------------------------------------
09:09:15 maxLenghtByLane : 9
09:09:15 DistBetweenLane : 38
09:09:15 yawOppositeLane3RollLeft : -42.00
09:09:15 yawOppositeLane2RollLeft : -88.00
09:09:15 yawOppositeLane1RollLeft : -135.00
09:09:15 yawOppositeLane3RollRight : -47.00
09:09:15 yawOppositeLane2RollRight : -92.00
09:09:15 yawOppositeLane1RollRight : -125.00
09:09:15 yawSet3 : 135.00
09:09:15 yawSet2 : 90.00
09:09:15 yawSet1 : 45.00
09:09:15 ---------- By Lanes mowing ---------------------------------------
09:09:15 DistPeriObstacleForw : 25
09:09:15 DistPeriOutForw : 60
09:09:15 DistPeriObstacleRev : 30
09:09:15 DistPeriOutRev : 40
09:09:15 trackingBlockInnerWheelWhilePerimeterStrug : 1
09:09:15 read2Coil : 0
09:09:15 swapCoilPolarityLeft : 0
09:09:15 swapCoilPolarityRight : 0
09:09:15 perimeterMagMaxValue : 2000
09:09:15 trackingErrorTimeOut : 10000
09:09:15 trackingPerimeterTransitionTimeOut : 1500
09:09:15 perimeterPID.Kd : 0.00
09:09:15 perimeterPID.Ki : 8.00
09:09:15 perimeterPID.Kp : 16.50
09:09:15 perimeterTrackRevTime : 2200
09:09:14 perimeterTrackRollTime : 1500
09:09:14 MaxSpeedperiPwm : 180
09:09:14 perimeterTriggerMinSmag : 0
09:09:14 perimeterUse : 1
09:09:14 ---------- perimeter -----------------------------------------
09:09:14 sonarToFrontDist : 30
09:09:14 sonarTriggerBelow : 30
09:09:14 sonarCenterUse : 1
09:09:14 sonarRightUse : 1
09:09:14 sonarLeftUse : 1
09:09:14 sonarUse : 1
09:09:14 ---------- sonar ---------------------------------------------
09:09:14 MaxTemperature : 55.00
09:09:14 DHT22Use : 0
09:09:14 ---------- DHT22 Temperature --------------------------------
09:09:14 rainUse : 0
09:09:14 ---------- rain ----------------------------------------------
09:09:14 dropContact : 0
09:09:14 dropUse : 0
09:09:14 ---------- drop ----------------------------------------------
09:09:14 bumperUse : 0
09:09:14 ---------- bumper --------------------------------------------
09:09:14 motorMowPID.Kd : 0.01
09:09:14 motorMowPID.Ki : 0.01
09:09:14 motorMowPID.Kp : 0.00
09:09:14 motorMowSenseScale : 1.54
09:09:14 motorMowRPMSet : 3300
09:09:14 motorMowModulate : 0
09:09:14 motorMowPowerMax : 40.30
09:09:14 motorMowSpeedMaxPwm : 189
09:09:14 motorMowAccel : 2000.00
09:09:14 motorMowForceOff : 0
09:09:14 ---------- mower motor ---------------------------------------
09:09:14 motorRightOffsetRev : 0
09:09:14 motorRightOffsetFwd : 0
09:09:14 motorLeftSwapDir : 0
09:09:14 motorRightSwapDir : 0
09:09:14 motorLeftPID.Kd : 0.00
09:09:14 motorLeftPID.Ki : 0.40
09:09:14 motorLeftPID.Kp : 0.79
09:09:14 motorBiDirSpeedRatio2 : 0.92
09:09:14 motorBiDirSpeedRatio1 : 0.30
09:09:13 motorTickPerSecond : 161
09:09:13 SpeedOdoMax : 140
09:09:13 SpeedOdoMin : 55
09:09:13 motorRightOffsetRev : 0
09:09:13 motorRightOffsetFwd : 0
09:09:13 circleTimeForObstacle : 4000
09:09:13 DistPeriObstacleAvoid : 100
09:09:13 motorForwTimeMax : 80000
09:09:13 DistPeriOutStop : 8
09:09:13 DistPeriOutRev : 40
09:09:13 motorRollDegMin : 20
09:09:13 motorRollDegMax : 100
09:09:13 motorZeroSettleTime : 2000
09:09:13 motorPowerIgnoreTime : 2000
09:09:13 motorSenseLeftScale : 1.65
09:09:13 motorSenseRightScale : 1.87
09:09:13 motorPowerMax : 67.60
09:09:13 motorSpeedMaxPwm : 200
09:09:13 motorSpeedMaxRpm : 24
09:09:13 motorAccel : 1500
09:09:13 ---------- wheel motors --------------------------------------

 

[bernard]

your Stop Distance / Perimeter setting value is only 8 cm and the RFID can read at 15 cm,it's why you have the 2 reading issue that i have never see.

It is the Real Time Clock

Yes , But why this issue,Certainly something not OK with the I2C bus ,So check if this eroor occur again

For the motor setting :
The PID is strange (but if it's work) .
You don't use bumper so the max power need to be adjust correctly.
67 W is not possible with the driver ,it's 2A at 24V so 48W max but maybe the left and right scale are not ok.

To find the correct value , in manual mode try to brake the mower with your hand ,The Max power motor need to be detected and the mower start to reverse.
Stop all imediatly (I need to add something in the code in this manual behaviour without bumper to stop automaticly)
If not reduce the power max.

maybe Jussip can share motor setting.

 

[stockfisch]

Hi
My Stop Distance / Perimeter setting value is only 8cm because the sensor is in the nose in the front.
And up to now i understand this value as: "The mower will cross the wire max 8cm"
More will be dangerous because then he will hit walls or busches or trees or flowers :S

What do you mean with "strange PID value"?
I just adjusted the max power to 44W now. Lets see...
But good to know have better settings here.

I have done a new IMU compass calib. I started it from PiArdu.
After click on Start PiArdu jumps direct to console and show me the values.
I turned in all directions and then go back to Settings IMU and click again on "Start compass calib" to stop.
Is this right?
This is the LOG:

11:11:49 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 332
11:11:48 .
11:11:48 comScale=853.00,628.00,306.00
11:11:48 COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z --> comOfs=-89.50,-107.00,-268.00
11:11:48 ACCEL GYRO MPU6050 OFFSET ax: -2050 ay: -193 az: 1893 gx: 23 gy: 0 gz: 27
11:11:48 -------- IMU CALIBRATION --------
11:11:48 Calibration address Stop = 650
11:11:48 Calibration address Start = 600
11:11:47 Save Calibration
11:11:47 com calib completed
11:11:03 x:-516.00,337.00 y:-421.00,207.00 z:-421.00,-115.00
11:11:01 x:-472.00,337.00 y:-421.00,207.00 z:-421.00,-128.00
11:11:01 x:-469.00,337.00 y:-421.00,207.00 z:-421.00,-128.00
11:11:01 x:-467.00,337.00 y:-421.00,207.00 z:-421.00,-128.00
11:11:01 x:-461.00,337.00 y:-421.00,207.00 z:-421.00,-128.00
11:10:59 x:-452.00,337.00 y:-421.00,207.00 z:-421.00,-128.00
11:10:58 x:-452.00,337.00 y:-421.00,207.00 z:-420.00,-128.00
11:10:58 x:-452.00,337.00 y:-421.00,207.00 z:-419.00,-128.00
11:10:58 x:-452.00,337.00 y:-421.00,207.00 z:-418.00,-128.00
11:10:58 x:-452.00,337.00 y:-421.00,207.00 z:-414.00,-128.00
11:10:57 x:-452.00,337.00 y:-421.00,207.00 z:-413.00,-128.00
11:10:57 x:-452.00,337.00 y:-421.00,207.00 z:-411.00,-128.00
11:10:47 x:-452.00,337.00 y:-421.00,207.00 z:-407.00,-128.00
11:10:44 x:-452.00,337.00 y:-421.00,187.00 z:-407.00,-128.00
11:10:43 x:-452.00,337.00 y:-409.00,187.00 z:-407.00,-133.00
11:10:39 x:-452.00,169.00 y:-225.00,187.00 z:-407.00,-220.00
11:10:36 x:-318.00,169.00 y:-225.00,187.00 z:-407.00,-344.00
11:10:34 x:-318.00,169.00 y:-225.00,114.00 z:-407.00,-346.00
11:10:34 x:-318.00,169.00 y:-220.00,114.00 z:-407.00,-346.00
11:10:34 x:-318.00,169.00 y:-218.00,114.00 z:-407.00,-346.00
11:10:33 x:-318.00,169.00 y:-167.00,114.00 z:-407.00,-346.00
11:10:32 x:-305.00,169.00 y:-124.00,114.00 z:-407.00,-364.00
11:10:32 x:-300.00,169.00 y:-120.00,114.00 z:-407.00,-370.00
11:10:31 x:-185.00,169.00 y:38.00,114.00 z:-407.00,-390.00
11:10:30 x:-185.00,169.00 y:38.00,114.00 z:-405.00,-390.00
11:10:30 x:-185.00,-177.00 y:103.00,114.00 z:-394.00,-390.00
11:10:29 x:-185.00,-180.00 y:103.00,108.00 z:-394.00,-390.00
11:10:29 x:-185.00,-182.00 y:103.00,106.00 z:-394.00,-390.00
11:10:27 x:-185.00,-183.00 y:103.00,106.00 z:-394.00,-390.00
11:10:26 x:-185.00,-183.00 y:103.00,106.00 z:-393.00,-390.00
11:10:26 x:-185.00,-183.00 y:104.00,106.00 z:-393.00,-390.00
11:10:26 x:-185.00,-183.00 y:104.00,105.00 z:-393.00,-390.00
11:10:25 x:-185.00,-183.00 y:104.00,105.00 z:-393.00,-391.00
11:10:25 x:-184.00,-183.00 y:104.00,105.00 z:-393.00,-391.00
11:10:25 x:-184.00,-183.00 y:104.00,105.00 z:-393.00,-392.00
11:10:25 x:-184.00,-184.00 y:104.00,105.00 z:-393.00,-392.00
11:10:25 x:-184.00,-184.00 y:105.00,105.00 z:-393.00,-393.00
11:10:24 rotate sensor 360 degree around all three axis until NO new data are coming
11:10:24 com calib...

I started mowing with IMU. Started from PiArdu. It takes less then 10min for stopping with errors.
DS1307 comm error
Everytime with IMU i have problems.
Best,
Bjoern
Here is the LOG of last try:

11:24:30 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 449
11:24:30 DS1307 comm error
11:24:29 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:27 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:25 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:24 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:22 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:20 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:19 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:17 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:15 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:13 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:12 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 1785
11:24:11 ERROR / ERR Dir 0 State changed at 912802 From state POUTROLL
11:24:11 Robot Stats address Stop = 826
11:24:11 Robot Stats address Start = 800
11:24:09 Save Robot Stats
11:24:09 DS1307 comm error
11:24:09 NORMALMOWING / POUTROLL Dir 1 State changed at 910839 From state POUTREV
11:24:09 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 744
11:24:07 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 743
11:24:06 NORMALMOWING / POUTREV Dir 1 State changed at 908225 From state POUTSTOP
11:24:05 NORMALMOWING / POUTSTOP Dir 1 State changed at 907385 From state FRWODO
11:24:05 Perimeter trigger at : 907385
11:24:05 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 745
11:24:04 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 744
11:24:02 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 644
11:23:59 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 2420
11:23:54 NORMALMOWING / FRWODO Dir 1 State changed at 896216 From state POUTFOR
11:23:53 NORMALMOWING / POUTFOR Dir 1 State changed at 894668 From state POUTROLL
11:23:50 NORMALMOWING / POUTROLL Dir 1 State changed at 892488 From state POUTREV
11:23:48 NORMALMOWING / POUTREV Dir 1 State changed at 890457 From state POUTSTOP
11:23:48 checktimer
11:23:48 NORMALMOWING / POUTSTOP Dir 1 State changed at 890069 From state FRWODO
11:23:48 Perimeter trigger at : 890069
11:23:44 NORMALMOWING / FRWODO Dir 1 State changed at 886083 From state POUTFOR
11:23:42 NORMALMOWING / POUTFOR Dir 1 State changed at 884557 From state ROLLTOIN
11:23:41 NORMALMOWING / ROLLTOIN Dir 1 State changed at 882634 From state POUTROLL
11:23:41 Find Inside roll nb: 0
11:23:39 NORMALMOWING / POUTROLL Dir 1 State changed at 881252 From state POUTREV
11:23:37 NORMALMOWING / POUTREV Dir 1 State changed at 879371 From state POUTSTOP
11:23:37 NORMALMOWING / POUTSTOP Dir 1 State changed at 878950 From state FRWODO
11:23:37 Perimeter trigger at : 878950
11:23:30 NORMALMOWING / FRWODO Dir 1 State changed at 872544 From state POUTFOR
11:23:29 NORMALMOWING / POUTFOR Dir 1 State changed at 871004 From state POUTROLL
11:23:27 NORMALMOWING / POUTROLL Dir 1 State changed at 869066 From state POUTREV
11:23:25 NORMALMOWING / POUTREV Dir 1 State changed at 867100 From state POUTSTOP
11:23:25 NORMALMOWING / POUTSTOP Dir 1 State changed at 866605 From state FRWODO
11:23:25 Perimeter trigger at : 866605
11:23:24 NORMALMOWING / FRWODO Dir 1 State changed at 865848 From state POUTFOR
11:23:22 NORMALMOWING / POUTFOR Dir 1 State changed at 864335 From state POUTROLL
11:23:20 NORMALMOWING / POUTROLL Dir 1 State changed at 862532 From state POUTREV
11:23:18 NORMALMOWING / POUTREV Dir 1 State changed at 860524 From state POUTSTOP
11:23:18 NORMALMOWING / POUTSTOP Dir 1 State changed at 860097 From state FRWODO
11:23:18 Perimeter trigger at : 860097
11:22:52 NORMALMOWING / FRWODO Dir 1 State changed at 834135 From state POUTFOR
11:22:51 NORMALMOWING / POUTFOR Dir 1 State changed at 832607 From state POUTROLL
11:22:49 NORMALMOWING / POUTROLL Dir 1 State changed at 830800 From state POUTREV
11:22:47 NORMALMOWING / POUTREV Dir 1 State changed at 828863 From state POUTSTOP
11:22:46 checktimer
11:22:46 NORMALMOWING / POUTSTOP Dir 1 State changed at 828392 From state FRWODO
11:22:46 Perimeter trigger at : 828392
11:22:32 NORMALMOWING / FRWODO Dir 1 State changed at 814121 From state POUTFOR
11:22:31 NORMALMOWING / POUTFOR Dir 1 State changed at 812618 From state POUTROLL
11:22:29 NORMALMOWING / POUTROLL Dir 1 State changed at 811465 From state POUTREV
11:22:27 NORMALMOWING / POUTREV Dir 1 State changed at 809524 From state POUTSTOP
11:22:27 NORMALMOWING / POUTSTOP Dir 1 State changed at 809055 From state FRWODO
11:22:27 Perimeter trigger at : 809055
11:22:05 NORMALMOWING / FRWODO Dir 1 State changed at 787343 From state POUTFOR
11:22:04 NORMALMOWING / POUTFOR Dir 1 State changed at 785841 From state POUTROLL
11:22:02 NORMALMOWING / POUTROLL Dir 1 State changed at 784163 From state POUTREV
11:22:00 NORMALMOWING / POUTREV Dir 1 State changed at 782225 From state POUTSTOP
11:22:00 NORMALMOWING / POUTSTOP Dir 1 State changed at 781730 From state FRWODO
11:22:00 Perimeter trigger at : 781730
11:22:00 NORMALMOWING / FRWODO Dir 1 State changed at 781706 From state ROLLTOIN
11:22:00 NORMALMOWING / ROLLTOIN Dir 1 State changed at 781706 From state POUTFOR
11:22:00 Find Inside roll nb: 0
11:21:59 NORMALMOWING / POUTFOR Dir 1 State changed at 780633 From state POUTROLL
11:21:57 NORMALMOWING / POUTROLL Dir 1 State changed at 779464 From state POUTREV
11:21:55 NORMALMOWING / POUTREV Dir 1 State changed at 777542 From state POUTSTOP
11:21:55 NORMALMOWING / POUTSTOP Dir 1 State changed at 777094 From state FRWODO
11:21:55 Perimeter trigger at : 777094
11:21:47 NORMALMOWING / FRWODO Dir 1 State changed at 768806 From state POUTFOR
11:21:45 NORMALMOWING / POUTFOR Dir 1 State changed at 767252 From state POUTROLL
11:21:44 NORMALMOWING / POUTROLL Dir 1 State changed at 765749 From state POUTREV
11:21:42 NORMALMOWING / POUTREV Dir 1 State changed at 763726 From state POUTSTOP
11:21:41 NORMALMOWING / POUTSTOP Dir 1 State changed at 763264 From state FRWODO
11:21:41 Perimeter trigger at : 763264
11:21:41 NORMALMOWING / FRWODO Dir 1 State changed at 762629 From state POUTFOR
11:21:39 NORMALMOWING / POUTFOR Dir 1 State changed at 761092 From state POUTROLL
11:21:38 NORMALMOWING / POUTROLL Dir 1 State changed at 760130 From state POUTREV
11:21:36 NORMALMOWING / POUTREV Dir 1 State changed at 758109 From state POUTSTOP
11:21:36 checktimer
11:21:36 NORMALMOWING / POUTSTOP Dir 1 State changed at 757706 From state FRWODO
11:21:36 Perimeter trigger at : 757706
11:21:25 NORMALMOWING / FRWODO Dir 1 State changed at 746858 From state POUTFOR
11:21:23 NORMALMOWING / POUTFOR Dir 1 State changed at 745371 From state POUTROLL
11:21:23 NORMALMOWING / POUTROLL Dir 1 State changed at 744755 From state POUTREV
11:21:21 NORMALMOWING / POUTREV Dir 1 State changed at 742814 From state POUTSTOP
11:21:20 NORMALMOWING / POUTSTOP Dir 1 State changed at 742347 From state FRWODO
11:21:20 Perimeter trigger at : 742347
11:21:20 NORMALMOWING / FRWODO Dir 1 State changed at 741663 From state POUTFOR
11:21:18 NORMALMOWING / POUTFOR Dir 1 State changed at 740100 From state POUTROLL
11:21:18 NORMALMOWING / POUTROLL Dir 1 State changed at 739634 From state POUTREV
11:21:16 NORMALMOWING / POUTREV Dir 1 State changed at 737740 From state POUTSTOP
11:21:15 NORMALMOWING / POUTSTOP Dir 1 State changed at 737277 From state FRWODO
11:21:15 Perimeter trigger at : 737277
11:20:50 NORMALMOWING / FRWODO Dir 1 State changed at 711945 From state POUTFOR
11:20:48 NORMALMOWING / POUTFOR Dir 1 State changed at 710400 From state POUTROLL
11:20:47 NORMALMOWING / POUTROLL Dir 1 State changed at 709219 From state POUTREV
11:20:45 NORMALMOWING / POUTREV Dir 1 State changed at 707252 From state POUTSTOP
11:20:45 NORMALMOWING / POUTSTOP Dir 1 State changed at 706791 From state FRWODO
11:20:45 Perimeter trigger at : 706791
11:20:44 NORMALMOWING / FRWODO Dir 1 State changed at 705835 From state POUTFOR
11:20:42 NORMALMOWING / POUTFOR Dir 1 State changed at 704306 From state POUTROLL
11:20:41 NORMALMOWING / POUTROLL Dir 1 State changed at 703291 From state POUTREV
11:20:39 NORMALMOWING / POUTREV Dir 1 State changed at 701272 From state POUTSTOP
11:20:39 NORMALMOWING / POUTSTOP Dir 1 State changed at 700851 From state FRWODO
11:20:39 Perimeter trigger at : 700851
11:20:26 NORMALMOWING / FRWODO Dir 1 State changed at 688432 From state POUTFOR
11:20:25 NORMALMOWING / POUTFOR Dir 1 State changed at 686939 From state POUTROLL
11:20:24 NORMALMOWING / POUTROLL Dir 1 State changed at 686308 From state POUTREV
11:20:22 NORMALMOWING / POUTREV Dir 1 State changed at 684281 From state POUTSTOP
11:20:22 checktimer
11:20:22 NORMALMOWING / POUTSTOP Dir 1 State changed at 683720 From state FRWODO
11:20:22 Perimeter trigger at : 683720
11:20:06 NORMALMOWING / FRWODO Dir 1 State changed at 668466 From state POUTFOR
11:20:05 NORMALMOWING / POUTFOR Dir 1 State changed at 666939 From state POUTROLL
11:20:03 NORMALMOWING / POUTROLL Dir 1 State changed at 664871 From state POUTREV
11:20:01 NORMALMOWING / POUTREV Dir 1 State changed at 662928 From state POUTSTOP
11:20:00 NORMALMOWING / POUTSTOP Dir 1 State changed at 662503 From state FRWODO
11:20:00 Perimeter trigger at : 662502
11:19:40 NORMALMOWING / FRWODO Dir 1 State changed at 642176 From state POUTFOR
11:19:39 NORMALMOWING / POUTFOR Dir 1 State changed at 640613 From state POUTROLL
11:19:37 NORMALMOWING / POUTROLL Dir 1 State changed at 638792 From state POUTREV
11:19:35 NORMALMOWING / POUTREV Dir 1 State changed at 636738 From state POUTSTOP
11:19:34 NORMALMOWING / POUTSTOP Dir 1 State changed at 636280 From state FRWODO
11:19:34 Perimeter trigger at : 636280
11:19:23 NORMALMOWING / FRWODO Dir 1 State changed at 625201 From state POUTFOR
11:19:22 NORMALMOWING / POUTFOR Dir 1 State changed at 623737 From state POUTROLL
11:19:20 NORMALMOWING / POUTROLL Dir 1 State changed at 621868 From state POUTREV
11:19:18 NORMALMOWING / POUTREV Dir 1 State changed at 619989 From state POUTSTOP
11:19:17 checktimer
11:19:17 NORMALMOWING / POUTSTOP Dir 1 State changed at 619349 From state FRWODO
11:19:17 Perimeter trigger at : 619349
11:19:04 NORMALMOWING / FRWODO Dir 1 State changed at 605930 From state POUTFOR
11:19:02 NORMALMOWING / POUTFOR Dir 1 State changed at 604389 From state POUTROLL
11:19:01 NORMALMOWING / POUTROLL Dir 1 State changed at 603454 From state POUTREV
11:18:59 NORMALMOWING / POUTREV Dir 1 State changed at 601486 From state POUTSTOP
11:18:59 NORMALMOWING / POUTSTOP Dir 1 State changed at 601041 From state FRWODO
11:18:59 Perimeter trigger at : 601041
11:18:55 NORMALMOWING / FRWODO Dir 1 State changed at 597557 From state POUTFOR
11:18:54 NORMALMOWING / POUTFOR Dir 1 State changed at 596026 From state POUTROLL
11:18:53 NORMALMOWING / POUTROLL Dir 1 State changed at 594953 From state POUTREV
11:18:51 NORMALMOWING / POUTREV Dir 1 State changed at 592973 From state POUTSTOP
11:18:50 NORMALMOWING / POUTSTOP Dir 1 State changed at 592516 From state FRWODO
11:18:50 Perimeter trigger at : 592516
11:18:41 NORMALMOWING / FRWODO Dir 1 State changed at 582687 From state POUTFOR
11:18:39 NORMALMOWING / POUTFOR Dir 1 State changed at 581151 From state POUTROLL
11:18:38 NORMALMOWING / POUTROLL Dir 1 State changed at 579909 From state POUTREV
11:18:36 NORMALMOWING / POUTREV Dir 1 State changed at 577987 From state POUTSTOP
11:18:35 NORMALMOWING / POUTSTOP Dir 1 State changed at 577486 From state FRWODO
11:18:35 Perimeter trigger at : 577486
11:18:35 NORMALMOWING / FRWODO Dir 1 State changed at 577464 From state ROLLTOIN
11:18:35 NORMALMOWING / ROLLTOIN Dir 1 State changed at 577464 From state POUTFOR
11:18:35 Find Inside roll nb: 0
11:18:34 NORMALMOWING / POUTFOR Dir 1 State changed at 575931 From state POUTROLL
11:18:33 NORMALMOWING / POUTROLL Dir 1 State changed at 575330 From state POUTREV
11:18:31 NORMALMOWING / POUTREV Dir 1 State changed at 573483 From state POUTSTOP
11:18:31 NORMALMOWING / POUTSTOP Dir 1 State changed at 572852 From state FRWODO
11:18:31 Perimeter trigger at : 572852
11:18:20 NORMALMOWING / FRWODO Dir 1 State changed at 561946 From state POUTFOR
11:18:18 NORMALMOWING / POUTFOR Dir 1 State changed at 560413 From state POUTROLL
11:18:17 NORMALMOWING / POUTROLL Dir 1 State changed at 559238 From state POUTREV
11:18:15 NORMALMOWING / POUTREV Dir 1 State changed at 557273 From state POUTSTOP
11:18:15 checktimer
11:18:15 NORMALMOWING / POUTSTOP Dir 1 State changed at 556824 From state FRWODO
11:18:15 Perimeter trigger at : 556824
11:18:12 NORMALMOWING / FRWODO Dir 1 State changed at 553679 From state POUTFOR
11:18:10 NORMALMOWING / POUTFOR Dir 1 State changed at 552150 From state POUTROLL
11:18:09 NORMALMOWING / POUTROLL Dir 1 State changed at 551444 From state POUTREV
11:18:07 NORMALMOWING / POUTREV Dir 1 State changed at 549401 From state POUTSTOP
11:18:07 NORMALMOWING / POUTSTOP Dir 1 State changed at 548954 From state FRWODO
11:18:07 Perimeter trigger at : 548954
11:18:02 NORMALMOWING / FRWODO Dir 1 State changed at 543668 From state POUTFOR
11:18:00 NORMALMOWING / POUTFOR Dir 1 State changed at 542127 From state POUTROLL
11:17:59 NORMALMOWING / POUTROLL Dir 1 State changed at 540759 From state POUTREV
11:17:57 NORMALMOWING / POUTREV Dir 1 State changed at 538798 From state POUTSTOP
11:17:56 NORMALMOWING / POUTSTOP Dir 1 State changed at 538313 From state FRWODO
11:17:56 Perimeter trigger at : 538313
11:17:47 NORMALMOWING / FRWODO Dir 1 State changed at 529142 From state POUTFOR
11:17:45 NORMALMOWING / POUTFOR Dir 1 State changed at 527579 From state POUTROLL
11:17:43 NORMALMOWING / POUTROLL Dir 1 State changed at 525566 From state POUTREV
11:17:42 NORMALMOWING / POUTREV Dir 1 State changed at 523641 From state POUTSTOP
11:17:41 NORMALMOWING / POUTSTOP Dir 1 State changed at 523181 From state FRWODO
11:17:41 Perimeter trigger at : 523181
11:17:35 NORMALMOWING / FRWODO Dir 1 State changed at 517379 From state POUTFOR
11:17:34 NORMALMOWING / POUTFOR Dir 1 State changed at 515852 From state POUTROLL
11:17:32 NORMALMOWING / POUTROLL Dir 1 State changed at 514590 From state POUTREV
11:17:31 NORMALMOWING / POUTREV Dir 1 State changed at 512651 From state POUTSTOP
11:17:30 NORMALMOWING / POUTSTOP Dir 1 State changed at 512249 From state FRWODO
11:17:30 Perimeter trigger at : 512249
11:17:20 NORMALMOWING / FRWODO Dir 1 State changed at 502215 From state POUTFOR
11:17:19 NORMALMOWING / POUTFOR Dir 1 State changed at 500699 From state POUTROLL
11:17:17 NORMALMOWING / POUTROLL Dir 1 State changed at 498855 From state POUTREV
11:17:15 NORMALMOWING / POUTREV Dir 1 State changed at 496843 From state POUTSTOP
11:17:14 checktimer
11:17:14 NORMALMOWING / POUTSTOP Dir 1 State changed at 496409 From state FRWODO
11:17:14 Perimeter trigger at : 496409
11:17:12 NORMALMOWING / FRWODO Dir 1 State changed at 494095 From state POUTFOR
11:17:10 NORMALMOWING / POUTFOR Dir 1 State changed at 492529 From state POUTROLL
11:17:10 NORMALMOWING / POUTROLL Dir 1 State changed at 491985 From state POUTREV
11:17:08 NORMALMOWING / POUTREV Dir 1 State changed at 490066 From state POUTSTOP
11:17:07 NORMALMOWING / POUTSTOP Dir 1 State changed at 489530 From state FRWODO
11:17:07 Perimeter trigger at : 489530
11:16:59 NORMALMOWING / FRWODO Dir 1 State changed at 480805 From state POUTFOR
11:16:57 NORMALMOWING / POUTFOR Dir 1 State changed at 479255 From state POUTROLL
11:16:55 NORMALMOWING / POUTROLL Dir 1 State changed at 476994 From state POUTREV
11:16:53 NORMALMOWING / POUTREV Dir 1 State changed at 475002 From state POUTSTOP
11:16:52 NORMALMOWING / POUTSTOP Dir 1 State changed at 474520 From state FRWODO
11:16:52 Perimeter trigger at : 474520
11:16:46 NORMALMOWING / FRWODO Dir 1 State changed at 468493 From state POUTFOR
11:16:45 NORMALMOWING / POUTFOR Dir 1 State changed at 466945 From state POUTROLL
11:16:43 NORMALMOWING / POUTROLL Dir 1 State changed at 465259 From state POUTREV
11:16:41 NORMALMOWING / POUTREV Dir 1 State changed at 463315 From state POUTSTOP
11:16:41 NORMALMOWING / POUTSTOP Dir 1 State changed at 462852 From state FRWODO
11:16:41 Perimeter trigger at : 462852
11:16:31 NORMALMOWING / FRWODO Dir 1 State changed at 453562 From state POUTFOR
11:16:30 NORMALMOWING / POUTFOR Dir 1 State changed at 452005 From state POUTROLL
11:16:29 NORMALMOWING / POUTROLL Dir 1 State changed at 450750 From state POUTREV
11:16:27 NORMALMOWING / POUTREV Dir 1 State changed at 448870 From state POUTSTOP
11:16:26 NORMALMOWING / POUTSTOP Dir 1 State changed at 448362 From state FRWODO
11:16:26 Perimeter trigger at : 448362
11:16:22 NORMALMOWING / FRWODO Dir 1 State changed at 444122 From state POUTFOR
11:16:21 NORMALMOWING / POUTFOR Dir 1 State changed at 442620 From state POUTROLL
11:16:20 NORMALMOWING / POUTROLL Dir 1 State changed at 441778 From state POUTREV
11:16:18 NORMALMOWING / POUTREV Dir 1 State changed at 439815 From state POUTSTOP
11:16:17 NORMALMOWING / POUTSTOP Dir 1 State changed at 439383 From state FRWODO
11:16:17 Perimeter trigger at : 439383
11:16:17 NORMALMOWING / FRWODO Dir 1 State changed at 438903 From state POUTFOR
11:16:15 NORMALMOWING / POUTFOR Dir 1 State changed at 437395 From state POUTROLL
11:16:14 NORMALMOWING / POUTROLL Dir 1 State changed at 435907 From state POUTREV
11:16:12 NORMALMOWING / POUTREV Dir 1 State changed at 433988 From state POUTSTOP
11:16:11 checktimer
11:16:11 NORMALMOWING / POUTSTOP Dir 1 State changed at 433509 From state FRWODO
11:16:11 Perimeter trigger at : 433509
11:16:08 NORMALMOWING / FRWODO Dir 1 State changed at 429670 From state POUTFOR
11:16:06 NORMALMOWING / POUTFOR Dir 1 State changed at 428128 From state POUTROLL
11:16:04 NORMALMOWING / POUTROLL Dir 1 State changed at 426287 From state POUTREV
11:16:02 NORMALMOWING / POUTREV Dir 1 State changed at 424410 From state POUTSTOP
11:16:02 NORMALMOWING / POUTSTOP Dir 1 State changed at 423945 From state FRWODO
11:16:02 Perimeter trigger at : 423945
11:16:00 NORMALMOWING / FRWODO Dir 1 State changed at 422299 From state POUTFOR
11:15:59 NORMALMOWING / POUTFOR Dir 1 State changed at 420751 From state POUTROLL
11:15:57 NORMALMOWING / POUTROLL Dir 1 State changed at 418895 From state POUTREV
11:15:55 NORMALMOWING / POUTREV Dir 1 State changed at 416980 From state POUTSTOP
11:15:54 NORMALMOWING / POUTSTOP Dir 1 State changed at 416397 From state FRWODO
11:15:54 Perimeter trigger at : 416397
11:15:54 NORMALMOWING / FRWODO Dir 1 State changed at 416378 From state ROLLTOIN
11:15:54 NORMALMOWING / ROLLTOIN Dir 1 State changed at 416378 From state POUTFOR
11:15:54 Find Inside roll nb: 0
11:15:54 NORMALMOWING / POUTFOR Dir 1 State changed at 415943 From state POUTROLL
11:15:52 NORMALMOWING / POUTROLL Dir 1 State changed at 414592 From state POUTREV
11:15:51 NORMALMOWING / POUTREV Dir 1 State changed at 412754 From state POUTSTOP
11:15:50 NORMALMOWING / POUTSTOP Dir 1 State changed at 412277 From state FRWODO
11:15:50 Perimeter trigger at : 412277
11:15:24 NORMALMOWING / FRWODO Dir 1 State changed at 386212 From state AUTOCALIB
11:15:24 Calib OK next state out rev
11:15:24 4 sec of read value, verify if the drift is stop
11:15:20 NORMALMOWING / AUTOCALIB Dir 1 State changed at 381660 From state STOPCALIB
11:15:19 NORMALMOWING / STOPCALIB Dir 1 State changed at 381497 From state ROLLTOFINDYAW
11:15:17 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 379303 From state FINDYAWSTOP
11:15:17 >>> >>> >>> >>> >>> >>> 0
11:15:17 imu.comYaw 100.18 imu.ypr.yaw 186.13 distancePI(imu.comYaw, imu.ypr.yaw) 0.86
11:15:17 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 378679 From state FRWODO
11:15:13 NORMALMOWING / FRWODO Dir 1 State changed at 374678 From state POUTFOR
11:15:11 NORMALMOWING / POUTFOR Dir 1 State changed at 373127 From state POUTROLL
11:15:10 NORMALMOWING / POUTROLL Dir 1 State changed at 371625 From state POUTREV
11:15:08 NORMALMOWING / POUTREV Dir 1 State changed at 369672 From state POUTSTOP
11:15:07 NORMALMOWING / POUTSTOP Dir 1 State changed at 369229 From state FRWODO
11:15:07 Perimeter trigger at : 369228
11:15:07 NORMALMOWING / FRWODO Dir 1 State changed at 369208 From state ROLLTOIN
11:15:07 NORMALMOWING / ROLLTOIN Dir 1 State changed at 369208 From state POUTFOR
11:15:07 Find Inside roll nb: 0
11:15:07 NORMALMOWING / POUTFOR Dir 1 State changed at 368918 From state POUTROLL
11:15:06 NORMALMOWING / POUTROLL Dir 1 State changed at 368317 From state POUTREV
11:15:04 NORMALMOWING / POUTREV Dir 1 State changed at 366337 From state POUTSTOP
11:15:04 checktimer
11:15:04 NORMALMOWING / POUTSTOP Dir 1 State changed at 365947 From state FRWODO
11:15:04 Perimeter trigger at : 365947
11:14:39 341239 Rotation direction Left / Right change
11:14:39 NORMALMOWING / FRWODO Dir 0 State changed at 341169 From state OFF
Best,
Bjoern

 

[jussip]

Dual MC33926 driver is rated to continous current 3A, peak 5A, each channel.
I spent lot of time by loading motors, measuring currents and tweaking current factors. Factors is choosed so that current reading is about true at 2-3A range where protection is needed most. Overall accuracy is poor and there's some difference between channels. My factors are 3.1 and 3.45. motorPowerMax is set to 60W (about 2,5A).

 

[stockfisch]

Hi
So i can setup 50W to be sure?
Which parameter do you mean with "My factors are 3.1 and 3.45"?
Thanks
Bjoern
PS. Actual the little friend is mowing 35min without IMU without any error

 

[jussip]

If you have set correct factors 50W is safe. But w/o correct factor it's just a number, not real wattage reading
Maybe easiest way is to find most steep uphill on garden and drive it up and set motorPowerMax e.g. 5W steps and choose lowest wattage number which won't cause error. e.g. I had 55W long time before I noticed that there's one uphill on garden which cause over current fault. Then I set it 60W and now mower goes also that uphill w/o error but is still low enough to protect driver and stop motor when bumper fails

motorSenseRightScale = 3.100; // normal is 1.536 motor right sense scale (mA=(ADC-zero)/scale)
motorSenseLeftScale = 3.450;  // normal is 1.536 motor left sense scale  (mA=(ADC-zero)/scale)

 

[bernard]

I have upload on Git a new version with some change.

But w/o correct factor it's just a number, not real wattage reading

Yes and the real value can only be set with the manual test and Always avoid that Wheel slip on the grass or the mower can be stuck for a long duration in the area.
So you can test and see the 80% value result into the console ,so Simply add 20% and try to use this value.
By this way the mower can run without bumper or sonar and no risk for suck or motor.


What are your PID value into motor setting