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autonomous tractor at work
Bookmarked 543 weeks ago the tractor pulling the grain cart in the video has no one in the cab it is controlled by an open source autopilot it can operate autonomously all day in the field without a driver i can039t take credit for every bit of hardware and software used but i did put it all togetherthanks to everyone who has put time and energy into pixhawk mavproxy mavlink droneapi missionplanner apm rover and all the great documentation that goes along with those i couldn039t have done it without you sorry if i missed anything or anyonein the video i mention that the tractor comes a little close to the combine and i attribute this to it being dusk time of day when gps often does funny things i am totally wrong about this being the cause of the problem it is a thing though i swath my fields with autosteer and i always set the direction either ew or ns east west in this case then when i get to the field with the combine i can use the autosteer on the combine to follow the swath because gps can vary a bit the combine has a feature called quotnudgequot basically if you see that the combine is drifting a bit you can nudge the autosteer right or left i didn039t have my combine set to exactly the same width as my swather so over the course of the day i kept nudging it in one direction as i moved across the field i clued in when i realized that i was having to move the grain cart the same amount away from the combine that the value of quotnudgequot had crept up too i can039t believe it but i checked and rechecked this behavior and it seems that when you use the nudge feature on the combine autosteer it adds some offset to the gps coordinates and then outputs the modified coordinates through the nmea serial connection which i feed into my laptop that ultimately determines where the cart will be relative to the combine now that i know this is how it works i can work around it but i think this has got to be a bug in the software in my combine the nmea serial output should be the unadulterated gps position at least in my opinion |