Open Mower Wiki - User contributions [en]

Why is the mower not mowing?

2024-08-07T23:42:31Z

Rovo89:

===When does the mower stop?===
{| class="wikitable"
!Condition!!Action
!Continue once condition is resolved
|-
|Bad GPS for longer than ''gps_timeout'' (if GPS needed)
|Stop all motors
|yes
|-
|-
|No ''/xbot_positioning/xb_pose'' received for 1 second
|
Stop all motors
|yes
|-
|No ''/mower/status'' received for 3 seconds||
Trigger emergency
|yes (after resetting emergency)
|-
|Left/right ESC error
|Trigger emergency
|yes (after resetting emergency)
|-
|Emergency (sensors or explicitly requested)
|Set ''emergency pause'' flag
|yes (after resetting emergency)
|-
|Request manual pause
|Set ''manual pause'' flag
|yes (after resetting ''manual pause'' flag)
|-
|''manual_pause_mowing'' (dynamic parameter) is true||Abort (*)
|no
|-
|Battery voltage below ''battery_critical_voltage''
|Abort (*)
|no
|-
|Battery voltage below ''battery_empty_voltage'' for 20 seconds
|Abort (*)
|no
|-
|Motor temperature >= ''motor_hot_temperature''
|Abort (*)
|no
|-
|Cleared map
|Abort
|no
|-
|Failed a few times to reach first point of mowing path
|Abort
|no
|}
(*) Not aborting in DOCKING, UNDOCKING and IDLE state.

===Implications of "abort"===
{| class="wikitable"
!State
!Result
|-
|AREA_RECORDING
|Go to IDLE
|-
|DOCKING
|Go to IDLE (except while approaching???)
|-
|IDLE
|Reload map etc.
|-
|MOWING
|Go to DOCKING (except while paused or waiting for GPS?)
|-
|UNDOCKING
|Go to IDLE
|}
The "aborted" flag only applies to the current behavior, it gets reset when entering a different state.

===What is triggered by the buttons?===
{| class="wikitable"
!State
!START
!HOME
!S1
!S2
|-
|AREA_RECORDING
| -
|Abort
| -
| -
|-
|DOCKING
| -
| -
| -
| -
|-
|IDLE
|Reset ''semiautomatic_task_paused'' flag
Set ''manual_start_mowing'' flag (see below)
| -
|Go to AREA_RECORDING
| -
|-
|MOWING
|Reset ''manual pause'' flag
Reset ''semiautomatic_task_paused'' flag (actually not, it's a bug)
|Set ''semiautomatic_task_paused'' flag
Abort (after waiting for odometry data)
|Set ''manual pause'' flag
|Skip area
|-
|UNDOCKING
| -
| -
| -
| -
|}

===What is triggered by actions?===
{| class="wikitable"
!Action
!What happens
|-
|<code>mower_logic/reset_emergency</code>
|Reset emergency (might continue mowing)
|-
|<code>mower_logic:idle/start_mowing</code>
|Reset ''manual pause'' flag
Reset ''semiautomatic_task_paused'' flag (actually not, it's a bug)
|-
|<code>mower_logic:mowing/pause</code>
|Set ''manual pause'' flag
|-
|<code>mower_logic:mowing/continue</code>
|Reset ''manual pause'' flag
|-
|<code>mower_logic:mowing/abort_mowing</code>
|Set ''semiautomatic_task_paused'' flag
Abort (after waiting for odometry data)
|}

===When does the mower go from IDLE to MOWING state?===

*''manual_start_mowing'' flag is set
Or all of the following:
*Battery voltage above ''battery_full_voltage''
*Motor temperature below ''motor_cold_temperature''
*Dynamic parameter ''manual_pause_mowing'' is false
*One of these modes:
**Automatic
**Semi-automatic with active task (i.e. mowing was started manually before), ''semiautomatic_task_paused'' flag is not set

Why is the mower not mowing?

2024-08-07T23:41:44Z

Rovo89: Created page with "===When does the mower stop?=== {| class="wikitable" !Condition!!Action !Continue once condition is resolved |- |Bad GPS for longer than ''gps_timeout'' (if GPS needed) |Stop all motors |yes |- |- |No ''/xbot_positioning/xb_pose'' received for 1 second | Stop all motors |yes |- |No ''/mower/status'' received for 3 seconds|| Trigger emergency |yes (after resetting emergency) |- |Left/right ESC error |Trigger emergency |yes (after resetting emergency) |- |Emergency (sensor..."

===When does the mower stop?===
{| class="wikitable"
!Condition!!Action
!Continue once condition is resolved
|-
|Bad GPS for longer than ''gps_timeout'' (if GPS needed)
|Stop all motors
|yes
|-
|-
|No ''/xbot_positioning/xb_pose'' received for 1 second
|
Stop all motors
|yes
|-
|No ''/mower/status'' received for 3 seconds||
Trigger emergency
|yes (after resetting emergency)
|-
|Left/right ESC error
|Trigger emergency
|yes (after resetting emergency)
|-
|Emergency (sensors or explicitly requested)
|Set ''emergency pause'' flag
|yes (after resetting emergency)
|-
|Request manual pause
|Set ''manual pause'' flag
|yes (after resetting ''manual pause'' flag)
|-
|''manual_pause_mowing'' (dynamic parameter) is true||Abort (*)
|no
|-
|Battery voltage below ''battery_critical_voltage''
|Abort (*)
|no
|-
|Battery voltage below ''battery_empty_voltage'' for 20 seconds
|Abort (*)
|no
|-
|Motor temperature >= ''motor_hot_temperature''
|Abort (*)
|no
|-
|Cleared map
|Abort
|no
|-
|Failed a few times to reach first point of mowing path
|Abort
|no
|}
(*) Not aborting in DOCKING, UNDOCKING and IDLE state.

===Implications of "abort"===
{| class="wikitable"
!State
!Result
|-
|AREA_RECORDING
|Go to IDLE
|-
|DOCKING
|Go to IDLE (except while approaching???)
|-
|IDLE
|Reload map etc.
|-
|MOWING
|Go to DOCKING (except while paused or waiting for GPS?)
|-
|UNDOCKING
|Go to IDLE
|}
The "aborted" flag only applies to the current behavior, it gets reset when entering a different state.

==='''What is triggered by the buttons?'''===
{| class="wikitable"
!State
!START
!HOME
!S1
!S2
|-
|AREA_RECORDING
| -
|Abort
| -
| -
|-
|DOCKING
| -
| -
| -
| -
|-
|IDLE
|Reset ''semiautomatic_task_paused'' flag
Set ''manual_start_mowing'' flag (see below)
| -
|Go to AREA_RECORDING
| -
|-
|MOWING
|Reset ''manual pause'' flag
Reset ''semiautomatic_task_paused'' flag (actually not, it's a bug)
|Set ''semiautomatic_task_paused'' flag
Abort (after waiting for odometry data)
|Set ''manual pause'' flag
|Skip area
|-
|UNDOCKING
| -
| -
| -
| -
|}

===What is triggered by actions?===
{| class="wikitable"
!Action
!What happens
|-
|<code>mower_logic/reset_emergency</code>
|Reset emergency (might continue mowing)
|-
|<code>mower_logic:idle/start_mowing</code>
|Reset ''manual pause'' flag
Reset ''semiautomatic_task_paused'' flag (actually not, it's a bug)
|-
|<code>mower_logic:mowing/pause</code>
|Set ''manual pause'' flag
|-
|<code>mower_logic:mowing/continue</code>
|Reset ''manual pause'' flag
|-
|<code>mower_logic:mowing/abort_mowing</code>
|Set ''semiautomatic_task_paused'' flag
Abort (after waiting for odometry data)
|}

===When does the mower go from IDLE to MOWING state?===

*''manual_start_mowing'' flag is set
Or all of the following:
*Battery voltage above ''battery_full_voltage''
*Motor temperature below ''motor_cold_temperature''
*Dynamic parameter ''manual_pause_mowing'' is false
*One of these modes:
**Automatic
**Semi-automatic with active task (i.e. mowing was started manually before), ''semiautomatic_task_paused'' flag is not set

Unicore GPS modules

2024-06-11T07:40:21Z

Rovo89: /* Receiver */ Request GST messages for accuracy reporting

Several users have chosen alternative GPS RTK modules with chips by ''Unicore'':

* ''UM960''
* ''UM980''
* ''UM982''

These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable).

Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies.

== Documentation ==
[https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf Command reference]

== Software ==
The vendor offers [https://en.unicore.com/products/uprecise.html ''UPrecise''] to check all status details and configure the receiver. The UI is pleasing and has many features, but also quite some bugs. The download requires creating a free account.

== Configuration ==

=== Receiver ===
The following configuration works quite well. COM3 is used when connected via USB.<syntaxhighlight>
FRESET
CONFIG COM3 460800
MODE ROVER UAV
GPGGA 0.1
GPGSV 1
GPRMC 1
GPGSA 1
GPVTG 1
GPGST 1
SAVECONFIG
</syntaxhighlight>These lines can be pasted into ''UPrecise'' after connecting to the receiver. Theoretically, you can also connect directly to the receiver's TTY, but make sure to send CR+LF (<code>\r\n</code>) line endings, otherwise the commands won't be recognized.

=== OpenMower (<code>mower_config.txt</code>) ===
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_PORT="/dev/ttyUSB0"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

== Rebooting ==
Sometimes the receiver just can't get a fix. Then it might be helpful to reboot it. There are three buttons in ''UPrecise'', which execute these commands:
{| class="wikitable"
!Button
!Command
|-
|Hot Start
|<code>RESET</code>
|-
|Warm Start
|<code>RESET EPHEM</code>
|-
|Cold Start
|<code>RESET EPHEM ALMANAC IONUTC POSITION</code>
|}
See also section 8.3 ("Reset") in the [https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf command reference]. In contrast to the <code>FRESET</code> command, these command '''don't''' wipe the configuration.

Unicore GPS modules

2024-06-02T20:00:35Z

Rovo89: Created page with "Several users have chosen alternative GPS RTK modules with chips by ''Unicore'': * ''UM960'' * ''UM980'' * ''UM982'' These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable). Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies. == Documentation == [https://core-el..."

Several users have chosen alternative GPS RTK modules with chips by ''Unicore'':

* ''UM960''
* ''UM980''
* ''UM982''

These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable).

Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies.

== Documentation ==
[https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf Command reference]

== Software ==
The vendor offers [https://en.unicore.com/products/uprecise.html ''UPrecise''] to check all status details and configure the receiver. The UI is pleasing and has many features, but also quite some bugs. The download requires creating a free account.

== Configuration ==

=== Receiver ===
The following configuration works quite well. COM3 is used when connected via USB.<syntaxhighlight>
FRESET
CONFIG COM3 460800
MODE ROVER UAV
GPGGA 0.1
GPGSV 1
GPRMC 1
GPGSA 1
GPVTG 1
SAVECONFIG
</syntaxhighlight>These lines can be pasted into ''UPrecise'' after connecting to the receiver. Theoretically, you can also connect directly to the receiver's TTY, but make sure to send CR+LF (<code>\r\n</code>) line endings, otherwise the commands won't be recognized.

=== OpenMower (<code>mower_config.txt</code>) ===
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_PORT="/dev/ttyUSB0"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

== Rebooting ==
Sometimes the receiver just can't get a fix. Then it might be helpful to reboot it. There are three buttons in ''UPrecise'', which execute these commands:
{| class="wikitable"
!Button
!Command
|-
|Hot Start
|<code>RESET</code>
|-
|Warm Start
|<code>RESET EPHEM</code>
|-
|Cold Start
|<code>RESET EPHEM ALMANAC IONUTC POSITION</code>
|}
See also section 8.3 ("Reset") in the [https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf command reference]. In contrast to the <code>FRESET</code> command, these command '''don't''' wipe the configuration.