AgOpenGPS - Page 53 - The Combine Forum
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post #521 of 4131 (permalink) Old 03-20-2017, 11:30 PM
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Quote:
Originally Posted by torriem View Post
In real life I don't spray slower than 5 mph usually, though on occasion I do for small periods of time...
Hmm unfortunately we are limited by our field sizes and roughness so 3-5 mph is about our spray range. Regardless, this will work just fine for tillage(primary goal for me!) and fertilizing. If it ends up being good enough for spraying that is just a huge bonus!

On another note, finally got my Ag Leader GPS to connect and spit out info to AOG! Excited to drive around tomorrow with it.....and even more excited to get my interface package The fun is just beginning.......

I am following this thread really closely trying to learn everything. You guys are fantastic!

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post #522 of 4131 (permalink) Old 03-21-2017, 09:50 PM
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Brian, I'm cautiously optimistic. I did a 5 line change or so (seems like that's all my contributions ever are!) that seems to do the trick. Here's what I did:

In OpenGL.Designer.cs I moved the if statement that turns off the section if the lookahead is negative up to the top, before the loop that checks for lookahead pixels, and then put the lookahead stuff in the else clause. I then use a flag to make the off command wait an iteration before being set.

Code:
                if (section[j].sectionLookAhead < 0) {
                    if (section[j].reverseDebounce) {
                        section[j].isSectionRequiredOn = false;
                        //Console.WriteLine("Section {0} going in reverse on second or later iteration.",j);
                    } else {
                        // Wait at least one iteration (more might be needed...)
                        // before shutting off section in case this was a boom wag
                        // at low speed.
                        section[j].reverseDebounce = true;
                        //Console.WriteLine("Section {0} going in reverse, but waiting an iteration.",j);
                    }
                } else {
                    section[j].reverseDebounce = false;
                    section[j].isSectionRequiredOn = false;
                    int tagged = 0;
                    for (int h = 0; h < (int)section[j].sectionLookAhead; h++)
                    {
                        for (int a = start; a < end; a++)
                        {
                            if (pixels[a] == 0)
                            {
                                if (tagged++ > vehicle.minUnappliedPixels)
                                {
                                    section[j].isSectionRequiredOn = true;
                                    goto GetMeOutaHere;
                                }
                            }
                        }

                        start += vehicle.rpWidth;
                        end += vehicle.rpWidth;
                    }
                    GetMeOutaHere:
                    ;
And of course required adding the "reverseDebounce" member to the class.

But it seems to work. It might be that "reverseDebounce" needs to be a counter instead of a flag, in case we need to wait 2 iterations for some cases.

Anyway I'm testing it with several of my pre-recorded tracks. I eliminated all but one skip, which I'm tracking down down.


Last edited by torriem; 03-21-2017 at 10:50 PM.
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post #523 of 4131 (permalink) Old 03-21-2017, 11:06 PM
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Well I still am seeing some skips but they are not coming from reversing sections... I am not sure what's going on. It's much improved with the "debounce" technique though. Doing more debugging...

Last edited by torriem; 03-22-2017 at 12:22 AM.
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post #524 of 4131 (permalink) Old 03-21-2017, 11:26 PM Thread Starter
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I'm completely rethinking how heading is determined. No patch is going to fix this problem - which technically is only a problem with a wiggly GPS signal, i have some ideas tho.

I really like all that has been done, the single section/multisection, space controlled mapping, individual look ahead of sections, smart speed and section reverse shutoff. The final piece to this puzzle is determining a stable heading.

Gonna take a bit to rewrite "Position.cs".

I have attached a simulator that can do noisy bouncy GPS. Just check the checkbox for noise and use as normal.
Attached Files
File Type: zip AgSimUPD_Noise.zip (10.1 KB, 17 views)

Last edited by BrianTee; 03-22-2017 at 12:02 AM.
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post #525 of 4131 (permalink) Old 03-22-2017, 10:17 AM
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I've eliminated all of my section going backwards skips. But still have some skips while going forwards, for the same reasons apparently. Sections slow down momentarily such that the forward look ahead is under 1, which rounds to zero.

One thing I don't understand is that the occasional skips I'm seeing are somewhat non-deterministic. Sometimes they occur and sometimes they don't, even though I'm replaying the same GPS data over and over again. I don't understand why the math (even floating point!) would come up with slightly different numbers for sectionLookAhead from run to run! It's really odd. Also occasionally in one part of my track where I cross what I've done, a section comes on when it shouldn't. It doesn't do it on every run but when it does it's always in the same place. Very odd. Again this is all with a single GPS data set, played back over and over.

Last edited by torriem; 03-22-2017 at 11:01 AM.
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post #526 of 4131 (permalink) Old 03-22-2017, 10:33 AM Thread Starter
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Isn't this fun!!?!!
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post #527 of 4131 (permalink) Old 03-22-2017, 01:46 PM
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It is!
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post #528 of 4131 (permalink) Old 03-22-2017, 02:43 PM
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Will your system work on glonass, i think as north as i am it would be more accurate. This seems like a good antenae, would this work??
GPS150USB DUALNAV™ GPS/GLONASS SENSOR
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post #529 of 4131 (permalink) Old 03-22-2017, 02:46 PM
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Made by digital yacht, 10 hz, 300 dollars plus some freight.
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post #530 of 4131 (permalink) Old 03-22-2017, 09:05 PM
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Originally Posted by makar View Post
Will your system work on glonass, i think as north as i am it would be more accurate. This seems like a good antenae, would this work??
GPS150USB DUALNAV™ GPS/GLONASS SENSOR
I expect it should work as the software just needs a particular nmea sentence, it's not aware of which GNSS system is feeding it the position data. That system looks handy from the perspective that it's water proof and easy to plug into a computer but it doesn't look like it's able to receive a rtk correction signal and output a corrected position.

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