BLE: AT
error: no BLE module found!
RCModel disabled in config
ENABLE_TILT_DETECTION
FREEWHEEL_IS_AT_BACKSIDE: 1
WHEEL_BASE_CM: 53
WHEEL_DIAMETER: 250
ENABLE_ODOMETRY_ERROR_DETECTION: 0
TICKS_PER_REVOLUTION: 650
MOTOR_DRIVER_BRUSHLESS
MOTOR_DRIVER_BRUSHLESS_MOW_DRV8308
MOTOR_DRIVER_BRUSHLESS_GEARS_JYQD
MOTOR_FAULT_CURRENT: 4.00
MOTOR_OVERLOAD_CURRENT: 1.20
USE_LINEAR_SPEED_RAMP: 1
MOTOR_PID_KP: 1.50
MOTOR_PID_KI: 0.03
MOTOR_PID_KD: 0.00
MOTOR_LEFT_SWAP_DIRECTION
MOTOR_RIGHT_SWAP_DIRECTION
MOW_PWM: 200
MOW_FAULT_CURRENT: 5.00
MOW_OVERLOAD_CURRENT: 1.90
ENABLE_OVERLOAD_DETECTION: 1
ENABLE_FAULT_DETECTION: 0
ENABLE_FAULT_OBSTACLE_AVOIDANCE: 0
ENABLE_RPM_FAULT_DETECTION: 1
RAIN_ENABLE: 1
BUMPER_ENABLE: 1
BUMPER_DEADTIME: 1000
BUMPER_TRIGGER_DELAY: 10
BUMPER_MAX_TRIGGER_TIME: 30
CURRENT_FACTOR: 2.94
GO_HOME_VOLTAGE: 21.20
BAT_FULL_VOLTAGE: 28.80
BAT_FULL_CURRENT: 0.30
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: 10
CPG_CONFIG_FILTER_CNOTHRS: 28
ALLOW_ROUTE_OUTSIDE_PERI_METER: 1.00
OBSTACLE_DETECTION_ROTATION: 1
KIDNAP_DETECT: 0
KIDNAP_DETECT_ALLOWED_PATH_TOLERANCE: 2.00
DOCKING_STATION: 1
DOCK_IGNORE_GPS: 0
DOCK_AUTO_START: 0
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: 0
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
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 load... ok
map dump - mapCRC=1483459
points:
perimeter pts: 181
exclusion pts: 87
exclusions: 15
dock pts: 3
mow pts: 1144
first mow point:-9.39,-7.76
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 2.2.1MPU ID=0x68
MPU6050/9150 found
using imu driver: MpuDriver
resuming is activated
state load... ok
dumpState: X=8.97 Y=3.77 delta=-0.92 mapCRC=1483459 mowPointsIdx=198 dockPointsIdx=0 freePointsIdx=0 wayMode=4 op=0 sensor=11 sonar.enabled=0 fixTimeout=211 absolutePosSource=1 lon=11.35 lat=53.05
WARN: PID unmet cycle time Ta=5.52 TaMax=0.20
WARN: PID unmet cycle time Ta=5.52 TaMax=0.20
WARN: PID unmet cycle time Ta=5.53 TaMax=0.20
batTemp=998 cpuTemp=39
==> changeOp:ImuCalibration(initiatedByOperator 0)->Idle
IMU gyro calibration (robot must be static)... 1
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .AwAx|e}!
0:0:12 ctlDur=0.00 op=ImuCalibration(initiatedByOperator 0)->Idle freem=233139 sp=0 bat=0.00,0.000(0.00) chg=0.00(0.00) diff=0.000 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.92 tow=553690000 lon=11.34529381 lat=53.04553523 h=69.3 n=0.00 e=0.00 d=0.00 sol=0 age=12.86
ublox chka error, msgclass=1, msgid=43, msglen=3B8: 0!=80
IMU gyro calibration (robot must be static)... 2
COMM CRC ERROR: .Aw@x|e}
IMU gyro calibration (robot must be static)... 3
COMM CRC ERROR: .AwAx|e}!
IMU gyro calibration (robot must be static)... 4
IMU gyro calibration (robot must be static)... 5
0:0:17 ctlDur=0.02 op=ImuCalibration(initiatedByOperator 0)->Idle freem=233139 sp=45B5 bat=26.76,0.000(0.15) chg=0.16(0.02) diff=-12.194 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.92 tow=553697000 lon=11.34528674 lat=53.04553744 h=69.5 n=0.00 e=0.00 d=0.00 sol=0 age=17.85
IMU gyro calibration (robot must be static)... 6
IMU gyro calibration (robot must be static)... 7
COMM CRC ERROR: .Aw@x|e}
IMU gyro calibration (robot must be static)... 8
COMM CRC ERROR: .Aw@x|e}
IMU gyro calibration (robot must be static)... 9
COMM CRC ERROR: .AwAx|e}!
IMU gyro calibration (robot must be static)... 10
0:0:22 ctlDur=0.02 op=ImuCalibration(initiatedByOperator 0)->Idle freem=233139 sp=593F bat=26.76,-0.000(0.24) chg=0.20(0.02) diff=-21.151 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.92 tow=553702000 lon=11.34527962 lat=53.04553692 h=69.7 n=0.00 e=0.00 d=0.00 sol=0 age=22.86
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
COMM CRC ERROR: .Aw@x|e}
IMU gyro calibration (robot must be static)... 15
==> changeOp:Idle(initiatedByOperator 0)
OP_IDLE
Motor::setMowState 0
COMM CRC ERROR: .AwAx|e}!
0:0:27 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=233139 sp=6CCA bat=26.76,-0.000(0.30) chg=0.19(0.02) diff=-24.530 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553707000 lon=11.34527514 lat=53.04553471 h=70.1 n=0.00 e=0.00 d=0.00 sol=0 age=27.86
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .AwAx|e}!
0:0:32 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=233139 sp=8053 bat=26.76,-0.000(0.34) chg=0.19(0.02) diff=-25.809 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553712000 lon=11.34526972 lat=53.04553594 h=70.2 n=0.00 e=0.00 d=0.00 sol=0 age=32.86
COMM CRC ERROR: .Aw@x|e}
0:0:37 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=233139 sp=93DC bat=26.76,-0.000(0.36) chg=0.18(0.02) diff=-26.284 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553717000 lon=11.34526342 lat=53.04553785 h=70.3 n=0.00 e=0.00 d=0.00 sol=0 age=37.86
COMM CRC ERROR: .AwAx|e}!
COMM CRC ERROR: .Aw@x|e}
0:0:42 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=233139 sp=A766 bat=26.75,-0.000(0.38) chg=0.16(0.02) diff=-26.461 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553722000 lon=11.34526003 lat=53.04553872 h=70.5 n=0.00 e=0.00 d=0.00 sol=0 age=42.87
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .AwAx|e}!
0:0:47 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=233139 sp=BAEF bat=26.75,-0.000(0.38) chg=0.18(0.03) diff=-26.531 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553727000 lon=11.34525583 lat=53.04553834 h=70.8 n=0.00 e=0.00 d=0.00 sol=0 age=47.86
COMM CRC ERROR: .Aw@x|e}
COMM CRC ERROR: .AwAx|e}!
sending encryptMode=0 encryptChallenge=0
absolutePosSource=1 lon=11.34514700 lat=53.04553000
0:0:52 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232787 sp=CE78 bat=26.75,-0.000(0.39) chg=0.18(0.02) diff=-26.559 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553732000 lon=11.34525201 lat=53.04553824 h=71.1 n=0.00 e=0.00 d=0.00 sol=0 age=52.87
0:0:57 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=E202 bat=26.75,-0.000(0.39) chg=0.18(0.02) diff=-26.570 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553737000 lon=11.34524863 lat=53.04553891 h=71.2 n=0.00 e=0.00 d=0.00 sol=0 age=57.87
0:1:2 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=F58C bat=26.76,-0.000(0.39) chg=0.19(0.02) diff=-26.576 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553742000 lon=11.34525175 lat=53.04554070 h=70.8 n=0.00 e=0.00 d=0.00 sol=0 age=62.88
Motor::setMowState 1
0:1:7 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=10915 bat=26.57,-0.000(0.76) chg=0.16(0.01) diff=-26.534 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553747000 lon=11.34525542 lat=53.04554295 h=70.3 n=0.00 e=0.00 d=0.00 sol=0 age=67.87
batTemp=998 cpuTemp=38
0:1:12 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=11C9F bat=26.45,-0.002(0.99) chg=0.16(0.02) diff=-26.430 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553752000 lon=11.34526152 lat=53.04554282 h=69.9 n=0.00 e=0.00 d=0.00 sol=0 age=72.87
checkmotorMowRPMStall: Mow motor Spun up!
DATA: SPINUPTIME (ms), driverPWM, mowRPM, mowRPMSet: 10000, 103, 3359.74, 3400.00
motorMowRPM stalled!
checkmotorMowRPMStall: WARNING mow motor RPM stalled for duration(ms) >= 309
Data: Trigger RPM, Mow RPM: 1870, 3400.00
0:1:17 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=13029 bat=26.38,-0.004(1.09) chg=0.19(0.02) diff=-26.326 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553757000 lon=11.34527093 lat=53.04554064 h=69.6 n=0.00 e=0.00 d=0.00 sol=0 age=77.87
motorMowRPM stalled!
checkmotorMowRPMStall: WARNING mow motor RPM stalled for duration(ms) >= 360
Data: Trigger RPM, Mow RPM: 1870, 3400.00
motorMowRPM stalled!
checkmotorMowRPMStall: WARNING mow motor RPM stalled for duration(ms) >= 52
Data: Trigger RPM, Mow RPM: 1870, 3400.00
0:1:22 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=143B4 bat=26.37,-0.005(1.11) chg=0.21(0.03) diff=-26.233 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553762000 lon=11.34528151 lat=53.04553762 h=67.4 n=0.00 e=0.00 d=0.00 sol=0 age=82.88
motorMowRPM stalled!
checkmotorMowRPMStall: WARNING mow motor RPM stalled for duration(ms) >= 465
Data: Trigger RPM, Mow RPM: 1870, 3400.00
0:1:27 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=1573E bat=26.36,-0.006(1.11) chg=0.18(0.03) diff=-26.183 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553767000 lon=11.34528762 lat=53.04553641 h=66.0 n=0.00 e=0.00 d=0.00 sol=0 age=87.88
motorMowRPM stalled!
checkmotorMowRPMStall: WARNING mow motor RPM stalled for duration(ms) >= 310
Data: Trigger RPM, Mow RPM: 1870, 3400.00
Motor::setMowState 0
0:1:32 ctlDur=0.02 op=Idle(initiatedByOperator 0) freem=232303 sp=16AC8 bat=26.37,-0.006(1.08) chg=0.18(0.03) diff=-26.157 tg=0.00,0.00 x=8.97 y=3.77 delta=-0.96 tow=553772000 lon=11.34528555 lat=53.04553465 h=65.8 n=0.00 e=0.00 d=0.00 sol=0 age=92.88