Yes but not dev for the moment .
The easy part:
Leave station now the full perimeter wire by skiping rfid tag and record the distance .
Again but at 30cm inside the area with the previous distance
Rfid PN5180 connected to ESP32 show a perfect result Inside the mower with drive and Wheel motor (15 CM reading distance)
The perimeter is not perturbate at all so for the moment all is OK and this solution can work Inside your platform.
Next step is to connect the ESP to Raspberry using USB and see if the USB power is OK for all (normaly easy) and find Iso15693 tag.
It's also possible to connect the ESP32 directly to PCB1.3,but need change in the code (maybe later if i have time) and the code is already OK in the raspberry.
Connect directly reader to Raspberry (not Ok for me because the screen) and can't find Pi library.
Connect directly reader to DUE (not OK because reading duration is 50ms and it's not possible while tracking)
For your Compass avoid the metal screw to fix it (i use adhesive VELCRO).
nan is value out of range so maybe a very bad calibration can do this ??
Use Pfod to start the compass calib and Try to delete the calib before.
Into pfod.cpp add g20 to delete calib and reboot before restart calib
serialPort->print(F("|g18~Accel Gyro Initial Calibration more than 30sec duration"));
serialPort->print(F("|g19~Compass calibration click to start and again to stop"));
serialPort->print(F("|g20~Delete Compass calibration"));
else if (pfodCmd == "g19") robot->imu.calibComStartStop();
else if (pfodCmd == "g20") robot->imu.deleteCompassCalib();
I try tomorrow in my mower to see if it's work but i never have this kind of error
Is the IMU is orientate like before ?
How I get startup to console? Now raspberryuse is false and arduinoIDE serial console open on serialUSB port but nothing comes until I press d for menu or v for sensor values
Got it.. had to be quick enough
--> ++++++++++++++++++++++++++++++++++* Start Robot Setup at 3292 --> +++++++++++++++++++++++++++
ErrorCounters address Start=500
ErrorCounters address Stop=522
Load EEprom User Setting
UserSettings address Start=2000
UserSettings address Stop=2514
Load Robot Stats
Robot Stats address Start = 800
Robot Stats address Stop = 826
--------------------------------- IMU INITIALISATION -------------------
COMPASS HMC5883L ID NEED TO BE 72 IF ALL IS OK ------> ID=72
IMU: found calib data
Calibration address Start = 600
Calibration address Stop = 650
-------- IMU CALIBRATION --------
ACCEL GYRO MPU6050 OFFSET ax: -3515 ay: 292 az: 1902 gx: 119 gy: 22 gz: -14
COMPASS OFFSET X.Y.Z AND SCALE X.Y.Z --> comOfs=649.50,-2879.00,-4096.00
MPU6050 connection successful
Enabling DMP... Packet size 42
Wait 3 secondes to stabilize the Drift
AccelGyro Yaw: -0.01 Compass Yaw: nan Diff between compass and accelGyro in Radian and Degnan / nan
--------------------------------- IMU READY ------------------------------
d for menu
v to change console output (sensor counters, values, perimeter etc.)
Free memory is : 81855
It's the compass, Don't need more calib on Gyro.
The calibration with -4096 is really Strange.
Can you try to move only the IMU out of the mower during calibration to check if it's not magnet or metal near the compass.
Btw when i check the code it is not ok to have a value 0 here, so certainly there is a bug in the initilisation variable before start calibration.
And maybe i tell you something wrong when reboot after delete calibration. Possible it was OK if restart calib immediatly after delete calib without rebooting.
The issue is that now you certainly can not reproduce the bug condition, so it is difficult to understand exactly what 's appened