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ProgrammingRobotsStudyGroup / robo_magellan

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Upgrade Pixhawk from Rover 3.1.2 to 3.2+ #29

Closed jeremyolsen closed 6 years ago

jeremyolsen commented 6 years ago

Potential issues and needed testing after upgrade:

1) Ultrasonic configuration: Fred has a successful implementation on version 3.2.0 2) EKF2 enabled: parameters may have changed from reading prior documents 3) Reverse steering issues 4) GUIDED mode working 5) Various speed issues encountered with AUTO mode

merose commented 6 years ago

As part of #3, probably need to check PWM steering limits again, just in case there is interaction with the new Pixhawk code.

jeremyolsen commented 6 years ago

Upgrade complete to 3.2.3 and all of the params reloaded. No errors and everything seems to be normal so far. The output from pixhawk looks much cleaner too. Ultrasonics - working EKF2 - no param changes necessary (Rest of the testing will have to occur off the stand tomorrow.)

jeremyolsen commented 6 years ago

More testing... 1) Intermediate waypoint fix is working. Able to test in the stand showing a cone to the camera and hitting the touch to get it to stop with a single waypoint. 2) Guided mode - Working! However is giving extra feedback in the console and isn't working as smootly as using manual/throttle 3) Steering - still needs to be reversed for throttle/manual for some reason. Seems like it's not working correctly when using GUIDED. 4) Speed - haven't fully tested it, but not sure if I am seeing issues or not. Speed is lowered, but not noticeable when I drop values.

jeremyolsen commented 6 years ago

Closing this as a reasonable amount of testing has been performed and the upgrade doesn't seem to have introduced any noticeable regressions. Individual issues can be opened up if any are found.