Success!
We have had our first test of using Ardupilot to drive the ROV autonomously. There are still a few kinks to iron out. It sometimes overshoots the GPS waypoints which could cause it to crash into some of the centuries-old shipwrecks. This can be solved by slowing down the navigation speed, or doing something radical like installing rudders. On the test day it was a little choppy which caused a lot of water to get on the deck, and while it should be waterproof, the less that can go wrong, the better, so the ROV will likely need to go slower anyway.
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Countless sleepless nights. Hours of frustration and self-flagellation (not literally). Even a visit from the mythical Evil Squirrel. All this has led me to a breakthrough... ITS ALIVE!
It is fitting that this journal entry is dated for April 1st, for I have been a fool. I'm not sure if you can hear it in the video, but I may have lost a few marbles. Anyways, I have motor movement coming directly from the flight controller, which although I could drive the boat with the remote before, this now means that I am close to to autonomy. I know I've said that before, but this time I mean it. Like tomorrow close. If there is not a post dated 4/2/2023 above this, then I have been a fool once more.... |
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