Robot console — simulated demo

Mission

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Segment: —
Speed limit: —
Paint allowed: —
Drive allowed: —
Pose estimate: —
Chassis pull: —
Position: —
Last fix: —

Controls

Manual control

v 0.00 m/s

ω 0.00 rad/s

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Path following

path following inactive

RTK / GNSS

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Accuracy (h_acc): —
Correction age: —
Satellites: —
Fix age: —
Speed: —
Source: —
Receiver link: —
Firmware: —
Fixes / bad: —

Perception: camera and IMU

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RP2040 board

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State: —
Disarm reason: —
Battery: —
Command age: —
RTT: —
Telemetry age: —
Paint command / actual: —
Wheels v L / R: —
Throttle L / R: —
Mode: —
Build: —
Firmware: —
Reset cause: —
Parameters: —

Route —

Name: —
Revision: —
Length total / paint: —
Origin: —

Load file…

Edit: tap a segment to select it and drag its points. Draw: taps add points of a new segment.

Log

Settings

Geometry

Config not received yet.

Tape-measure from the middle of the front axle: x forward, y left. By default all four wheels are driven (4WD: the left channel drives both left wheels, the right one both right). The rover computes everything from the turn centre (the cross), which is also its position point on the map.

Calibration: turn centre and turn efficiency

Turn centre (turn_center_frac) — where the body pivots, as a fraction of the way from the front axle to the second one: 0 — on the front axle, 0.5 — halfway. Neither axle steers, so in a turn the wheels scrub sideways and the body rotates about a point between the axles; it is pulled towards the axle carrying more weight (the tank sits over the front axle). With 4WD the point depends on load and radius: full tank 0.08–0.20, empty 0.30–0.40; default 0.25, calibrate at the working radius of 1 m. A tape measure cannot find it — it is a calibration: spin the robot in place and fit a circle to the antenna track from RTK. The distance from the driven axle to the circle centre along the robot, divided by the axle spacing, is the fraction. Without reverse the robot pivots about the stopped wheel and the circle centre shifts sideways — take its projection onto the longitudinal axis. Map check: during a pivot the fixes lie on an arc around the cross; if the cross itself moves in a circle, the fraction is off.

Turn efficiency η (turn_efficiency) — the share of the wheel speed difference that actually turns the body: ω = η·(vR − vL)/track, the rest is lost to side scrub (4WD: 0.58–0.84 depending on load and radius, default 0.72). Also a calibration: command a turn at a known ω for a time t and compare the RTK heading change with the expected ω·t: η_new = η_old × Δψ_RTK / (ω·t). The board splits ω between the wheels using the effective track track/η (its track_mm).

Full config

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