Lawn Sweeper Track Robot Uses RTK GPS with Pixhawk Autopilot and Ardupilot Mission Planner Rover

linktr.ee/bzeug for instagram, and more links
The Pixhawk4 Mini and GPS: www.holybro.com/
ArduPilot Mission Planner: ardupilot.org/planner/
Hashtags: #ardupilot #pixhawk #rover

[@DIYROBOTS]

Cool! I moved from this snowblower track to 100% 3d printed one!

[@TheRainHarvester]

I came looking for a way to dump leaves from one location to another. Found you! Subscribed!

[@lundebc]

Nicely done. I have a battery mower that built and I hooked up to R/C; and am now gathering the parts to use a pixhawk on it.

[@jonleiend1381]

Have you had any luck with the lawn mower project? I am starting the same project. All of the electronics are back ordered.

[@lundebc]

@@jonleiend1381 I have received the parts from Amazon, and 3d printed a mounting board. I am in the process of learning how to download the software to the pixhawk.

[@Hoffmanpack]

@@lundebc make a video tutorial!

[@tpm4life]

Such a cool build. I'm working on something very similar so I can one up my neighbor

[@FimaMillston]

Great job! Thank you!

[@ejpengineering1900]

That's awesome! Do you have a list of everything hardware used in the project?

[@leochen4891]

Cool. I'm building almost the exact same thing.

[@Moti0nGFX]

Hi, thanks for your video, at first I was a little confused why you have two GPS mounted but no RTK moving base - but so you had a comparison. do you still plan to implement RTK to get to cm accuracy?

[@robertparenton7470]

Thank You!

[@garydonbellew]

Good job!😊

[@seano51]

Would there be any benefit in incorporating feedback from a compass to help with direction/orientation?

[@ahmetklc6205]

bele devam aferin

[@frankrey7676]

Very cool, Are you using any of the RTK + injection capabilities on the GPS? Ie are you also running a ground station stationary gps for higher accuracy. Or is the increased accuracy simply the F9P gps unit?

[@bzeug]

No injection. Just the F9P

[@gregkozma401]

Would love to talk to you more, in the process of doing a gas mower with pixhawk w lidar

[@willemwoutman5345]

Very nice build! Would you please tell me where you get the Caterpillar tracks from?

[@brad3378]

Search for "8/26 Trac" ---- Disregard last. Search "TheRobotShop" for a blog post titled "Trac-Drive Mower and Snow Plower" Posted on 31/05/2019 by thachnb

[@Cacique809]

Hi, can Obsticle avoidence be added to this?

[@user-yt9pt3xs5v]

Hola bzeug !. Que versión de Pixhawk utilizas ?. Puedo con el Pixhawk 2.4.8 convertir mi robot RC en autónomo o debo adquirir una versión más moderno ?.

[@blakepreston9108]

Could u use a vrs, for your rtk?

[@levi_lcl]

How did you hook the H-RTK into the Pixhawk then Sabertooth 2x32 motor driver? Is it the same as the previous RC transmitter - 2 red cables, 2 black cables, then two signal cables coming from the Pixhawk mini to the Sabertooth?

[@bzeug]

Pixhawk4mini is the main component. RTK plugs into PixHawk4mini and Sabbertooth plugs into PixHawk4mini. PixHawk4mini is connected via 900mhz-USB radio to a laptop which uploads/downloads telemetry and firmware and programming settings.

[@levi_lcl]

@@bzeug Excellent thanks so much for your reply. You make great videos, I wish I could find a snow blower but no snow in my area.

[@falkenxx]

Which GPS port are you plugging the H-RTK into? GPS 1 or GPS2? did you have to make a cable or did the cable that came with it work? I am looking at upgrading to this GPS but I have PIXHAWK CUBE and it uses slightly different connectors than the original pixhawk had and I think GPS 1 port is a 10 pin connector and GPS 2 is a 6 pin connector. I don't care about the "safety switch" function so I could get away with using GPS2 port I think. I was just curious how your setup is wired. Thanks...

[@bzeug]

I am using the PixHawk 4 mini, which only has 1 GPS port. So I would say GPS 1. I only have 1 GPS plugged in. The other GPS receiver on the bot is not plugged in at the same time. I did not need to make or buy any additional cable. The RTK receiver has the cable built into it, and the one end with a plug fit right into GPS port on Pixhawk 4 mini. I bought everything directly from Holybro in Hong Kong.

[@willdwyer6782]

How much weight can you hitch to it?

[@marklovelace6216]

What firmware did you Flash your rover with was it the 4.0 that came on mission planner or did you Choose a specific Firmware

[@bzeug]

Not anything specific, just the version that mission planner flashed it with.

[@vrushank2809]

Hello, i want to make one can you make a guide for that?

[@geoffreythomazeau8497]

Hi, nice video. Where did you buy the f9p module ?

[@bzeug]

direct from www.holybro.com

[@user-jr4if2rm4d]

how to calibration esc

[@dgb5820]

The extra deep could it be the end way point

[@rishabhmehta7994]

How to connect remote and the robot and control it.

[@100diy]

Hello , I have a newbie question, I'm gathering equipment for a robot mower project, the remote control you're using looks like a Taranis X9D, a lower model like the X9 Lite or X9 Lite S might be enough? thank you

[@bzeug]

I can't tell if that X9 Lite has the switches needed. If I recall correctly the 3 position toggle switch is needed as well as a 2 position toggle switch for arm/disarm.

[@100diy]

@@bzeug it seems so, it's the buttons on the top left, it seems the same

[@MadMike78]

Hi do you have a build list? Like to build something like that.

[@rogerpinch2698]

Very cool! Are you an engineer?

[@bzeug]

I play one on KZbin. Just a hobbyist.

[@CunningLinguist01]

very cool . I made a rc tank also if you want to check it out . i need to try this autopilot

[@djzatka]

How you made this?

[@chadgroves4667]

I'm doing basically the same build. I'm stuck on getting the Cube to control the motors. I'm missing something. I get nothing on the main out or aux out on the flight controller. Any ideas? Is there anyway I could get a copy of your parameters so I can check them with mine? TIA

[@bzeug]

Yeah I should probably make a video about that. I started off with the pixhawk 4. the one with dual microprocessors in it and I could not get ardupilot mission planner to drive motors it was just clearly so completely made for quad rotors and drones and airplanes that I had to go by the pixhawk Mini which does not have that 2nd microprocessor for additional sereal control. With the pixhawk Mini I was easily able to get motor control to work for a rover in ardupilot missionplanner.

[@chadgroves4667]

@@bzeug Thanks for the reply. I was able to get it to work. The only issue I have now is getting the same voltage to each motor. In full forward 1 motor gets 22.xx volts and the other only gets 18.xx. I'm getting closer.

[@rishabhmehta7994]

@@chadgroves4667 can you please help me out with connection and hardwares?

[@sallysnail1795]

do you use a base station to achieve this accuracy or can i just plug in the fp9 onto my pixhawk in place of the existing gps module. thank you

[@bzeug]

No base station. Also did a followup video showing how F9P is connected. I think holybro is now selling two types of F9P with different plugs.

[@sallysnail1795]

@@bzeug will i be able to use the m8p module the same way. I dont need 1 cm accuracy as the m8p is 2.5cm and will be great for what i need.

[@bzeug]

@@sallysnail1795 I assume yes, but I don't know. I have no experience with that specific module.

[@sallysnail1795]

@@bzeug have you got link for the follow up video please

[@sallysnail1795]

@@bzeug i have found the follow up vid. Thank you

[@sallysnail1795]

how accurate is the m9p ? it is stated that it is 1cm accuracy but i don't want to invest in this id it isn't. have you done any test to check accuracy ? thank you

[@bzeug]

I only have the F9P so can only speak about that one.

[@sallysnail1795]

@@bzeug what accuracy have you achieved. I dont want to buy this to find it is not as accurate in positioning as claimed. I cant fimd any help online to verify the accuracy. Thank you.

[@bzeug]

@@sallysnail1795 I guess I can't say what exactly the accuracy of my F9P is in terms of centimeters. That is easier to measure using a drone. The rover, I think has more complications being on the ground, so I just tried to show what I was getting for a result in the video. The F9P by itself even without the optional base station, virtually eliminated all the drift (in ardupilot) at rest I had with the old standard GPS. The accuracy I would say is down to a few inches, in my testing without a base station.

[@sallysnail1795]

@@bzeug thank you for replies. So i can just plug into my pichawk mini v1.2 and the m9p will work without setting up a groundstation. ? Thank you

[@bzeug]

​@@sallysnail1795 the F9P works without a base station, and it works as a replacement to the standard GPS. If the plug port is the same on your pixhawk as it is on mine, then I am very confident it will work. But as always is the case, results may vary. I know how frustrating it is to figure out if things will work before the money is spent, but I can't say 100% how your setup will perform with an F9P. Here is a link to the exact Pixhawk 4 mini I have. shop.holybro.com/pixhawk4-mini_p1120.html the SKU I bought was the 20054 full kit.

[@adrian_sanchez]

Is there a way to record waypoints as you manually control it?

[@bzeug]

Yes. Here is the doc ardupilot.org/rover/docs/learning-a-mission.html#:~:text=when%20the%20vehicle%20is%20at,and%20then%20download%20all%20waypoints.

[@adrian_sanchez]

@@bzeug awesome, thanks

[@user-yt9pt3xs5v]

Hello bzeug !. Can my robot be made autonomous only with the RTK GPS with Pixhawk without Arduino? My robot uses the MDDS30A FlySky FS iA6X transmitter with FS iA10B receiver connected to the Cytron controller and I would like to make it autonomous like your robot Is it also necessary to buy the Arduino? Please help me with my project, advise me, I am very new to this, watch my 2 videos, my robot and see what you think!

[@bzeug]

If you mean an additional Arduino board then no, you don't need it. You do need an AruduPilot compatible microcontroller of some kind however, such as the Pixhawk I am using which has a microcontroller integrated in it that is basically an Arduino, that gets code uploaded from ArduPilot software running on my laptop.

[@greg669]

lmao stress free

[@barabucho]

)))))

[@peel1e]

So it's not RTK then...

[@bzeug]

Not in the sense that it uses a base station to send GPS offsets back to the bot. This receiver does have an optional base station and the software can do it. This is kind of a pseudo RTK using multiple separate international positioning systems somehow mathematically blended together.