Fenix autopilot project - tiller autopilot based on Arduino

[Tonypascone]

Hey Sergio,
Any chance that the Adafruit gyro BNO055 will work? 4 week delivery time right now from the 'typical'sources..
Thanks,
Tony

[Pietero]

Originally Posted by Tonypascone

Hi Pietero,
I downloaded the app and ordered an ESP32 that will be here Tuesday.. I’ll build them up in parallel. I’ve got a couple H bridge motor controller and all the other bits as well as a couple linear actuators. One with feedback and then two ST1000’s with fried PCBs (the replacement boards are $200+, thus looking for an alternative). I wasn’t aware of the compass issues you mentioned although when I’ve tinkered on my bench the compass output always seems a bit slow.. looking forward to the parallel path. Doing a 350 mile sail in March.. Hoping to have a couple trials knocked out by then and give it a shot without needing to buy board for St1000.

Couple quick questions..

1. Is there separate code for the ESP32 or does the app program the ESP32 when the app connects via Bluetooth.?
2. Any notes on wiring the ESP32 to the motor controller?

I agree that the Pypilot was a mess. It seems way too complex given the tools available.. A great project and it seems to be serving others.. The path you have taken, and Sergio, are much simpler..

I’ll feedback my experiences.. and comments.

Looking forward to tinkering.

Best,

Tony Pascone

Good that you found the github page. I made huge developments in the APP but I am not eager to publish it as it has not been tested. My sailing season is from april to September. So do expect some updates from may.

Your sailing season is defenitely different. I can upload the code but no guarantees given. Actually, it will be a miriacle if all my changes (GPS + waypoints navigation) will work at once.

This current version is only for maintaining a course. There are no end stops programmed which basically means that you can overheat the motor if it is not protected.

[Tonypascone]

I good with simple and basic autopilot functionality.

ESP32 arriving tomorrow. Will let you know how it goes.

Working on the Fenix project as well since I had ordered all of the components. Stuck as I may be using the incorrect BNO055 module. More tinkering tomorrow.

Thanks Pietero.

I'll get back at you tomorrow.

Tomy

[Max47]

The new release v.3.3B1 of Fenix is out with many improvements.
https://github.com/spascual90/Fenix

Works well. Thank you @spascual and good wind, always.:colpito:

[mgrouch]

Thanks! Looks interesting. I’ll look into the code more. Here is my esp32 project and some of the code of it you might find useful.

https://github.com/bareboat-necessit...-m5stack-tough

(active boat directory is where all important stuff is)

Things you might look at is the way world magnetic model is used to for from magnetic to true directions. The way wind data feed is read. The screen UI to control pypilot with LVGL.
m5stack tough is also pretty good hardware for both touch UI and esp32 usual things.

[GILow]

Originally Posted by mgrouch

Thanks! Looks interesting. I’ll look into the code more. Here is my esp32 project and some of the code of it you might find useful.

https://github.com/bareboat-necessit...-m5stack-tough

(active boat directory is where all important stuff is)

Things you might look at is the way world magnetic model is used to for from magnetic to true directions. The way wind data feed is read. The screen UI to control pypilot with LVGL.
m5stack tough is also pretty good hardware for both touch UI and esp32 usual things.

I liked the M5 stack but I didn’t find a way of providing external power to it that I was completely satisfied with. What did you end up doing?

[Max47]

Originally Posted by Max47

The new release v.3.3B1 of Fenix is out with many improvements.
https://github.com/spascual90/Fenix

Works well. Thank you @spascual and good wind, always.:colpito:

p.s.: now you can also use MinIMU-9 v5 gyroscope, accelerometer and compass (LSM6DS33 and LIS3MDL carrier)
see:https://fenix-autopilot.com/build-of-materials/

[mgrouch]

Originally Posted by GILow

I liked the M5 stack but I didn’t find a way of providing external power to it that I was completely satisfied with. What did you end up doing?

It’s powered from USB for me. It’s enough in my case.

Here are some screenshots:

https://github.com/bareboat-necessit...nshots/VIEW.md

[spascual90]

Originally Posted by mgrouch

It’s powered from USB for me. It’s enough in my case.

Here are some screenshots:

https://github.com/bareboat-necessit...nshots/VIEW.md

Hello both,
I am proud to read that this thread about Fenix project is helping to foster alternative open source projects.

To ease follow-up and avoid readers messing up with diferent projects, I propose you to create a new topic and keep this one only for communications and questions around Fenix.

Thank you!
Sergio

[spascual90]

Originally Posted by Tonypascone

Hey Sergio,

Any chance that the Adafruit gyro BNO055 will work? 4 week delivery time right now from the 'typical'sources..

Thanks,

Tony

I missed this question. Apollogize!
How was your experience with bno055 and fenix in general?

I purchased another bno055 unit and it worked well. But after reading about this a bit more, I concluded the sensor fusion results of some units are not reliable.

SOLUTION, in Fenix v3.3 I have rebuilt the IMU driver. You have 2 different HEX file alternatives for bno055. You can choose whether internal sensor fusion (like the previous versions, bno055 makes internal calculations for tilt compass) or external fusion (algorithms are calculated externally by Arduino).

Pro and cons: internal SF is faster than external. If your bno055 device works well use internal version and if it is not capable to fix a heading change to the external SF version.

Hope it helps!
Regards
Sergio

[spascual90]

Originally Posted by Max47

The new release v.3.3B1 of Fenix is out with many improvements.

https://github.com/spascual90/Fenix



Works well. Thank you @spascual and good wind, always.:colpito:

Thank you!

I have limited time to test live on my boat, and that is why all releases are " Beta".
The best way to contribute is to test and provide feedback.

First (and last) test with bno055 external SF in this video,
https://youtu.be/Bch6jSOL_sk

MINIMU9V5 release has not been tested on the boat yet. I implemented this alternative IMU as it is a cheap and not obsolete device I could find in a trustable shop (ie. Not Aliexpress).

Regards
Sergio