Path planning companion to ArduPilot's Mission Planner

WORK IN PROGRESS!

This project is a work in progress and is not ready for deployment. It is very unoptimized and contains bugs.

If you want to give it a try, you can create a local dev build using bun:

Follow the installation instructions on Bun's website

Then, you can run the development server using:

cd <path/to/yard-pilot>
bun install
bun run dev

A local development server will be started at http://localhost:5173.

Rover 4.4+ tuning notes

Fast Boustrophedon path navigation with a skid-steered vehicle (zero-turn mower):

• Ensure GPS_POS offsets are well-measured and correct in both the X and Y axes.
• Tune the speed controller well, including pivot turns to dial in all the gain values (we will disable them later).
• Tune the steering rate controller well.
• Tune the position controller well. I ended up with quite high gains (PSC_VEL_P greater than 3!).
• Set WP_PIVOT_ANGLE to 0 (disabled) or a very high (maybe 135-160+) value.
• Set TURN_RADIUS to a small value (0.2 to 0.5m).
• Set WP_RADIUS approximately equal to but not less than TURN_RADIUS.
• Set TURN_MAX_G to a low value (0.05 - 0.15). This calculator may help.
• Set ATC_ACCEL_MAX to 0.5 to 1.5 - observe forward acceleration out of turns for lurches or sluggish motion.
• Set ATC_DECEL_MAX to a similar range - observe waypoint overshoots (and review IMU.AccX for truth data).