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mavlink / qgroundcontrol

Cross-platform ground control station for drones (Android, iOS, Mac OS, Linux, Windows)
http://qgroundcontrol.io
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Add PIDTuning UI for Rover type vehicles #10429

Open max-itsl opened 2 years ago

max-itsl commented 2 years ago

Good day!

Recently Jaeyoung-Lim made PID tuning section available for fixed wing with this PR https://github.com/mavlink/qgroundcontrol/pull/10384

Please consider adding the same functions for Rover frame type.

I need to fine tune PX4 Rover speed and steering. It's a big diesel tractor, cruise speed is below 2 m/s. I'm getting speed difference for uphill vs downhill up to 0.5 m/s, which heavily affects rover behavior in sharp turns. I need to sharpen speed controller response and remove oscillations. Now my method is: sitting inside the tractor, monitor gas pedal behavior while modifying P, I and D values. As you can guess, this method is quite inaccurate.

Previously I've done it using Ardupilot and Mission Planner as described here https://ardupilot.org/rover/docs/rover-tuning-throttle-and-speed.html#desired-speed-to-throttle-pid-tuning , I've used “pidachieved” and “piddesired” monitoring tool in Mission Planner. Now I'm trying to reproduce it using PX4.

Q: What flight stacks must it work with? (All, PX4, ArduPilot) A: PX4

Q: Relevant vehicle types? A: Rover

Q: Are there other systems that have this feature? A: Yes, Ardupilot with Mission Planner

Thank you

Max

junwoo091400 commented 2 years ago

Hi! I will be able to work on this 😊. Btw are you on px4 slack? We could chat in the #rover channel to discuss your project as well 🤔

max-itsl commented 2 years ago

Hi! Thank you. Yes, I'm aware of the #rover channel. I decided to publish this request here as there is that similar PR from Jaeyoung-Lim . I'm trying to make a tractor work alone in the field.

Jaeyoung-Lim commented 2 years ago

@junwoo091400 Do you have an ETA on when you would work on this? Otherwise I can already do it in case you haven't started yet

junwoo091400 commented 2 years ago

@junwoo091400 Do you have an ETA on when you would work on this? Otherwise I can already do it in case you haven't started yet

Got side tracked 👻, yes sure you can go ahead! I haven't made any changes yet

max-itsl commented 2 years ago

@Jaeyoung-Lim Thank you. I will test this feature right away as it gets available

junwoo091400 commented 1 year ago

Any updates? @Jaeyoung-Lim

Btw just found this PR that originally implemented this feature: https://github.com/mavlink/qgroundcontrol/pull/6295

junwoo091400 commented 1 year ago

As I am now preparing to do a boat demo this week, I got a chance to work on this. The WIP PR is here: https://github.com/mavlink/qgroundcontrol/pull/10483

@max-itsl