Das weis ich nicht. Hängt von der Software ab.
I am using the MPU6050 from the beginning with no problems. It is clear that there is something behind the sensor that is giving too much voltage or the other way around. Did you try to see if the 3.3v voltage is correct in the jumper?9250er da leider nicht lieferbar.
Edit: Hab mir hier jetzt mal zwei bestellt... hoffe einer davon tut es am Ende.
Hab auch noch einen MPU6050 als Ersatz hier liegen, aber der kommt aus der gleichen Charge wo die zwei nicht lange gehalten haben.
Yeah and it seems hard to find out which one are good.I had purchased another pack with MPU6050 and it wasn't worth it, there are still several similar models that don't really work correctly.
Hello,Yeah and it seems hard to find out which one are good.
Since the last chip lasted for a few months I guess the voltage should be fine.
Jumper is set to 3,3V.
But not sure if I need to add a pull down resistor with the PCB 1.4.
Do you have one and using the I2C2 port?
MPU9250 found
using imu driver: MpuDriver
resuming is activated
state load... ok
dumpState: X=5.62 Y=-27.16 delta=2.96 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=0 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
WARN: PID unmet cycle time Ta=2.05 TaMax=0.07
WARN: PID unmet cycle time Ta=2.05 TaMax=0.07
batTemp=20 cpuTemp=32
==> changeOp:ImuCalibration->Idle
IMU gyro calibration (robot must be static)... 1
0:0:11 ctlDur=0.00 op=ImuCalibration->Idle freem=231363 sp=2C9B bat=0.00(0.00) chg=0.00(0.00) tg=0.00,0.00 x=5.62 y=-27.16 delta=2.96 tow=6400 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.01
ublox chka error, msgclass=1, msgid=14, msglen=24: FF!=E6
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
0:0:16 ctlDur=0.02 op=ImuCalibration->Idle freem=231363 sp=4026 bat=28.73(0.13) chg=0.58(0.01) tg=0.00,0.00 x=5.62 y=-27.16 delta=2.96 tow=13000 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.22
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
0:0:21 ctlDur=0.02 op=ImuCalibration->Idle freem=231363 sp=53B1 bat=28.73(0.20) chg=0.57(0.01) tg=0.00,0.00 x=5.62 y=-27.16 delta=2.96 tow=18000 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.22
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
0:0:26 ctlDur=0.02 op=Idle freem=231363 sp=673C bat=28.73(0.23) chg=0.58(0.01) tg=0.00,0.00 x=5.62 y=-27.16 delta=-3.04 tow=23000 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.23
IMU gyro calibration (robot must be static)... 10
0:1:55 ctlDur=0.02 op=ImuCalibration->Mow freem=216351 sp=1C2BC bat=28.78(0.13) chg=0.58(0.01) tg=-4.39,-10.81 x=-5.44 y=-12.85 delta=1.12 tow=296795800 lon=8.08449712 lat=50.56868413 h=441.4 n=-12.85 e=-5.44 d=2.94 sol=2 age=0.85
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:Mow
OP_MOW
Map::startMowing
findObstacleSafeMowPoint checking 15.23,-16.36
findPath (-5.44,-12.85) (15.23,-16.36)
path finder is enabled
freem=216215
starting path-finder
.finish nodes=481 duration=3588
node pt=15.23,-16.36
node pt=14.91,-15.57
node pt=14.05,-9.52
node pt=14.13,-9.26
node pt=14.27,-9.00
node pt=4.13,-5.63
node pt=0.96,-5.93
node pt=0.55,-6.10
node pt=-4.09,-10.47
node pt=-4.39,-10.81
node pt=-5.44,-12.85
0:2:3 ctlDur=0.02 op=Mow freem=216351 sp=0 bat=28.78(0.13) chg=0.58(0.01) tg=-4.39,-10.81 x=-5.44 y=-12.85 delta=1.12 tow=296800000 lon=8.08449693 lat=50.56868412 h=441.4 n=-12.85 e=-5.44 d=2.94 sol=2 age=3.72
WARN: PID unmet cycle time Ta=3.60 TaMax=0.07
WARN: PID unmet cycle time Ta=3.61 TaMax=0.07
dumpState: X=-5.44 Y=-12.85 delta=1.12 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=0 freePointsIdx=0 wayMode=4 op=1 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
ublox chka error, msgclass=1, msgid=14, msglen=24: 11!=C4
0:2:8 ctlDur=0.02 op=Mow freem=216351 sp=1F4F2 bat=28.65(0.34) chg=0.57(0.01) tg=-4.39,-10.81 x=-5.44 y=-12.85 delta=0.92 tow=296808600 lon=8.08449713 lat=50.56868412 h=441.4 n=-12.85 e=-5.44 d=2.94 sol=2 age=0.74
dumpState: X=-5.44 Y=-12.85 delta=0.92 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=1 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
batTemp=998 cpuTemp=28
WARN: PID unmet cycle time Ta=0.14 TaMax=0.07
WARN: PID unmet cycle time Ta=0.14 TaMax=0.07
0:2:13 ctlDur=0.02 op=Mow freem=216351 sp=2087B bat=28.62(0.40) chg=0.58(0.01) tg=-4.39,-10.81 x=-5.45 y=-12.85 delta=0.92 tow=296813600 lon=8.08449683 lat=50.56868411 h=441.4 n=-12.85 e=-5.45 d=2.94 sol=2 age=0.75
SD card found!
RESET cause: power-on
Sunray,1.0.286
compiled for: Adafruit Grand Central M4
using robot driver: AmRobotDriver
robot id: 09:c5:37:9b:53:37:54:48:4e:20:20:20:ff:12:29:33
MOTOR_DRIVER_BRUSHLESS: yes
enableCharging 0
probing for HM-10 module (NOTE: will fail for ESP32)...
trying to detect Bluetooth 4.0/BLE (HM-10 module) (make sure your phone is NOT connected)9600...
BLE: AT
trying to detect Bluetooth 4.0/BLE (HM-10 module) (make sure your phone is NOT connected)115200...
BLE: AT
OK
Bluetooth 4.0/BLE (HM-10) module found!
BLE: AT+VERSION
+VERSION=ESP32 firmware V0.4.5,Bluetooth V4.0 LE
BLE: AT+NAMEArdumower
+NAME=Ardumower
BLE: AT+RESET
+RESET
RCModel disabled in config
ENABLE_PASS
FREEWHEEL_IS_AT_BACKSIDE: 1
WHEEL_BASE_CM: 36
WHEEL_DIAMETER: 250
ENABLE_ODOMETRY_ERROR_DETECTION: 1
TICKS_PER_REVOLUTION: 650
MOTOR_DRIVER_BRUSHLESS
MOTOR_DRIVER_BRUSHLESS_MOW_JYQD
MOTOR_DRIVER_BRUSHLESS_GEARS_JYQD
MOTOR_FAULT_CURRENT: 6.00
MOTOR_OVERLOAD_CURRENT: 2.80
USE_LINEAR_SPEED_RAMP: 0
MOTOR_PID_KP: 1.50
MOTOR_PID_KI: 0.03
MOTOR_PID_KD: 0
MOTOR_LEFT_SWAP_DIRECTION
MOTOR_RIGHT_SWAP_DIRECTION
ENABLE_DYNAMIC_MOWER_SPEED: 0
MOW_FAULT_CURRENT: 3.30
MOW_OVERLOAD_CURRENT: 2.50
ENABLE_OVERLOAD_DETECTION: 1
ENABLE_FAULT_DETECTION: 0
ENABLE_FAULT_OBSTACLE_AVOIDANCE: 0
ENABLE_RPM_FAULT_DETECTION: 1
ENABLE_DYNAMIC_MOWMOTOR: 1
SONAR_INSTALLED
SONAR_ENABLE: 1
SONAR_TRIGGER_OBSTACLES: 0
RAIN_ENABLE: 0
BUMPER_ENABLE: 0
CURRENT_FACTOR: 2.94
GO_HOME_VOLTAGE: 22.50
BAT_FULL_VOLTAGE: 29.00
BAT_FULL_CURRENT: 0.20
BAT_SWITCH_OFF_IDLE: 1
BAT_SWITCH_OFF_UNDERVOLTAGE: 1
REQUIRE_VALID_GPS: 1
GPS_SPEED_DETECTION: 1
GPS_MOTION_DETECTION: 1
GPS_REBOOT_RECOVERY: 1
GPS_CONFIG: 1
GPS_CONFIG_FILTER: 1
CPG_CONFIG_FILTER_MINELEV: 10
CPG_CONFIG_FILTER_NCNOTHRS: 0
CPG_CONFIG_FILTER_CNOTHRS: 0
ALLOW_ROUTE_OUTSIDE_PERI_METER: 0.15
OBSTACLE_DETECTION_ROTATION: 0
KIDNAP_DETECT: 0
KIDNAP_DETECT_ALLOWED_PATH_TOLERANCE: 1.00
DOCKING_STATION: 0
DOCK_IGNORE_GPS: 0
DOCK_AUTO_START: 1
TARGET_REACHED_TOLERANCE: 0.05
STANLEY_CONTROL_P_NORMAL: 0.60
STANLEY_CONTROL_K_NORMAL: 0.40
STANLEY_CONTROL_P_SLOW: 0.80
STANLEY_CONTROL_K_SLOW: 0.10
BUTTON_CONTROL: 1
USE_TEMP_SENSOR
BUZZER_ENABLE
SERIAL_BUFFER_SIZE=1024 (increase if you experience GPS checksum errors)
-----------------------------------------------------
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
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 load... ok
map dump - mapCRC=-4668871
points:
perimeter pts: 150
exclusion pts: 329
exclusions: 22
dock pts: 0
mow pts: 2792
first mow point:12.60,-13.99
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 2.2.171
MPU9250 found
using imu driver: MpuDriver
resuming is activated
state load... ok
dumpState: X=5.98 Y=-27.29 delta=-2.89 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=0 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
WARN: PID unmet cycle time Ta=2.01 TaMax=0.07
WARN: PID unmet cycle time Ta=2.01 TaMax=0.07
batTemp=20 cpuTemp=22
==> changeOp:ImuCalibration->Idle
IMU gyro calibration (robot must be static)... 1
0:0:11 ctlDur=0.00 op=ImuCalibration->Idle freem=231363 sp=2D42 bat=0.00(0.00) chg=0.00(0.00) tg=0.00,0.00 x=5.98 y=-27.29 delta=-2.89 tow=5600 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=11.59
ublox chka error, msgclass=1, msgid=14, msglen=24: 11!=47
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
0:0:16 ctlDur=0.02 op=ImuCalibration->Idle freem=231363 sp=40CC bat=28.79(0.14) chg=0.57(0.01) tg=0.00,0.00 x=5.98 y=-27.29 delta=-2.89 tow=296575600 lon=0.00000000 lat=0.00000000 h=0.0 n=0.00 e=0.00 d=0.00 sol=0 age=0.21
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
0:0:21 ctlDur=0.02 op=ImuCalibration->Idle freem=231363 sp=5456 bat=28.80(0.21) chg=0.55(0.02) tg=0.00,0.00 x=5.98 y=-27.29 delta=-2.89 tow=296580600 lon=8.08450845 lat=50.56868765 h=439.1 n=-12.46 e=-4.64 d=5.20 sol=0 age=0.23
GPS jump: 13.29
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
0:0:26 ctlDur=0.02 op=Idle freem=231363 sp=67DF bat=28.81(0.24) chg=0.57(0.01) tg=0.00,0.00 x=-4.62 y=-12.47 delta=-3.11 tow=296585600 lon=8.08450852 lat=50.56868732 h=439.1 n=-12.47 e=-4.62 d=5.24 sol=1 age=0.24
0:0:31 ctlDur=0.02 op=Idle freem=231363 sp=7B6A bat=28.81(0.26) chg=0.56(0.01) tg=0.00,0.00 x=-4.63 y=-12.67 delta=-2.91 tow=296590600 lon=8.08450865 lat=50.56868552 h=439.1 n=-12.67 e=-4.63 d=5.20 sol=1 age=0.25
0:0:36 ctlDur=0.02 op=Idle freem=231363 sp=8EF5 bat=28.81(0.25) chg=0.57(0.01) tg=0.00,0.00 x=-4.96 y=-13.00 delta=-3.11 tow=296595600 lon=8.08450402 lat=50.56868282 h=439.4 n=-13.00 e=-4.96 d=4.90 sol=1 age=0.27
GPS jump: 0.49
0:0:41 ctlDur=0.02 op=Idle freem=231363 sp=A27E bat=28.81(0.24) chg=0.56(0.01) tg=0.00,0.00 x=-5.52 y=-13.16 delta=-3.11 tow=296600600 lon=8.08449601 lat=50.56868134 h=441.4 n=-13.16 e=-5.52 d=2.94 sol=2 age=0.29
sending encryptMode=1 encryptChallenge=191
absolutePosSource=0 lon=0.00000000 lat=0.00000000
0:0:46 ctlDur=0.02 op=Idle freem=230643 sp=B608 bat=28.81(0.23) chg=0.56(0.02) tg=0.00,0.00 x=-5.52 y=-13.16 delta=-3.11 tow=296605600 lon=8.08449602 lat=50.56868111 h=441.4 n=-13.16 e=-5.52 d=2.93 sol=2 age=0.31
0:0:51 ctlDur=0.02 op=Idle freem=230643 sp=C991 bat=28.80(0.22) chg=0.57(0.02) tg=0.00,0.00 x=-5.52 y=-13.16 delta=-3.11 tow=296610600 lon=8.08449603 lat=50.56868135 h=441.4 n=-13.16 e=-5.52 d=2.94 sol=2 age=0.34
setOperation op=1
changeOperationType
dumpState: X=-5.51 Y=-13.16 delta=-3.11 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=1 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
==> changeOp:Mow
OP_MOW
clearObstacles
Map::startMowing
findObstacleSafeMowPoint checking 15.23,-16.36
findPath (-5.51,-13.16) (15.23,-16.36)
path finder is enabled
freem=216919
starting path-finder
.finish nodes=481 duration=3641
node pt=15.23,-16.36
node pt=14.91,-15.57
node pt=14.05,-9.52
node pt=14.13,-9.26
node pt=14.27,-9.00
node pt=4.13,-5.63
node pt=0.96,-5.93
node pt=0.55,-6.10
node pt=-4.09,-10.47
node pt=-4.39,-10.81
node pt=-5.51,-13.16
WARN: PID unmet cycle time Ta=3.70 TaMax=0.07
WARN: PID unmet cycle time Ta=3.70 TaMax=0.07
ublox chka error, msgclass=1, msgid=3C, msglen=40: 62!=1
0:0:56 ctlDur=0.07 op=Mow freem=216387 sp=DD1B bat=28.70(0.35) chg=0.53(0.01) tg=-4.39,-10.81 x=-5.52 y=-13.16 delta=-3.11 tow=296615800 lon=8.08449612 lat=50.56868133 h=441.4 n=-13.16 e=-5.52 d=2.95 sol=2 age=0.35
0:1:1 ctlDur=0.02 op=Mow freem=216287 sp=F0A4 bat=28.63(0.47) chg=0.56(0.01) tg=-4.39,-10.81 x=-5.51 y=-13.16 delta=-3.11 tow=296620800 lon=8.08449615 lat=50.56868134 h=441.4 n=-13.16 e=-5.51 d=2.96 sol=2 age=0.36
0:1:6 ctlDur=0.02 op=Mow freem=216287 sp=1042F bat=28.59(0.53) chg=0.54(0.01) tg=-4.39,-10.81 x=-5.51 y=-13.16 delta=2.95 tow=296625800 lon=8.08449593 lat=50.56868110 h=441.4 n=-13.16 e=-5.51 d=2.96 sol=2 age=0.36
setOperation op=0
changeOperationType
dumpState: X=-5.51 Y=-13.16 delta=2.82 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=0 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
==> changeOp:Idle
OP_IDLE
batTemp=998 cpuTemp=25
WARN: PID unmet cycle time Ta=0.11 TaMax=0.07
WARN: PID unmet cycle time Ta=0.11 TaMax=0.07
0:1:11 ctlDur=0.02 op=Idle freem=216287 sp=117B9 bat=28.64(0.43) chg=0.57(0.01) tg=-4.39,-10.81 x=-5.50 y=-13.16 delta=2.67 tow=296630800 lon=8.08449633 lat=50.56868134 h=441.4 n=-13.16 e=-5.50 d=2.96 sol=2 age=0.39
0:1:16 ctlDur=0.02 op=Idle freem=216287 sp=12B43 bat=28.69(0.35) chg=0.57(0.01) tg=-4.39,-10.81 x=-5.50 y=-13.16 delta=2.68 tow=296635800 lon=8.08449631 lat=50.56868132 h=441.4 n=-13.16 e=-5.50 d=2.96 sol=2 age=0.36
0:1:21 ctlDur=0.02 op=Idle freem=216287 sp=13ECD bat=28.73(0.28) chg=0.58(0.01) tg=-4.39,-10.81 x=-5.51 y=-13.16 delta=2.69 tow=296640800 lon=8.08449624 lat=50.56868111 h=441.4 n=-13.16 e=-5.51 d=2.96 sol=2 age=0.41
0:1:26 ctlDur=0.02 op=Idle freem=216287 sp=0 bat=28.74(0.27) chg=0.57(0.01) tg=-4.39,-10.81 x=-5.44 y=-12.92 delta=1.78 tow=296645800 lon=8.08449722 lat=50.56868352 h=441.4 n=-12.92 e=-5.44 d=2.97 sol=2 age=0.42
ERROR: odometry error - rpm too low (left, right)=0.00,0.17
setOperation op=1
changeOperationType
dumpState: X=-5.44 Y=-12.92 delta=1.77 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=1 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
==> changeOp:Mow
OP_MOW
clearObstacles
Map::startMowing
findObstacleSafeMowPoint checking 15.23,-16.36
findPath (-5.44,-12.92) (15.23,-16.36)
path finder is enabled
freem=216151
starting path-finder
.finish nodes=481 duration=3564
node pt=15.23,-16.36
node pt=14.91,-15.57
node pt=14.05,-9.52
node pt=14.13,-9.26
node pt=14.27,-9.00
node pt=4.13,-5.63
node pt=0.96,-5.93
node pt=0.55,-6.10
node pt=-4.09,-10.47
node pt=-4.39,-10.81
node pt=-5.44,-12.92
motor fault recover counter 1
Starting Recovery JYQD2021 Driver. Brake-Pins and Dir-Pins are LOW for 100ms
WARN: PID unmet cycle time Ta=3.72 TaMax=0.07
WARN: PID unmet cycle time Ta=3.72 TaMax=0.07
ublox chka error, msgclass=1, msgid=14, msglen=24: 11!=AA
0:1:31 ctlDur=0.08 op=Mow freem=216287 sp=165E1 bat=28.68(0.35) chg=0.54(0.00) tg=-4.39,-10.81 x=-5.44 y=-12.92 delta=1.77 tow=296650800 lon=8.08449722 lat=50.56868322 h=441.4 n=-12.92 e=-5.44 d=2.96 sol=2 age=0.43
0:1:36 ctlDur=0.02 op=Mow freem=216287 sp=1796B bat=28.63(0.43) chg=0.54(0.01) tg=-4.39,-10.81 x=-5.43 y=-12.92 delta=1.76 tow=296655800 lon=8.08449700 lat=50.56868352 h=441.4 n=-12.92 e=-5.43 d=2.96 sol=2 age=0.44
resetting recoverMotorFaultCounter
0:1:41 ctlDur=0.02 op=Mow freem=216287 sp=18CF6 bat=28.61(0.46) chg=0.56(0.01) tg=-4.39,-10.81 x=-5.44 y=-12.92 delta=1.71 tow=296660800 lon=8.08449722 lat=50.56868321 h=441.4 n=-12.92 e=-5.44 d=2.96 sol=2 age=0.44
setOperation op=0
changeOperationType
dumpState: X=-5.44 Y=-12.87 delta=1.32 mapCRC=-4668871 mowPointsIdx=12 dockPointsIdx=1 freePointsIdx=1 wayMode=4 op=0 sensor=4 sonar.enabled=0 fixTimeout=4 absolutePosSource=0 lon=0.00 lat=0.00
save state... ok
==> changeOp:Idle
OP_IDLE