hallo
Ich habe Wachs mit Leuchtantennen (BASE AND ROVER), aber ich habe festgestellt, dass die Geschwindigkeit des Traktors nicht mit der Geschwindigkeit des Wachses übereinstimmt. Wenn ich ein Pflanzmuster verwende, sind einige Linien größer als andere.
Das ist meine Konfiguration des Wachses, stimmt etwas nicht?
Es tut mir leid für die Übersetzung
Config:
Conexion
-----------------
Puerto_COM:26
Baudios:115200
tcpActivated:1
tcpServer:localhost
tcpPort:9999
Ancho_trabajo:18.0
A1:Abono:18.0:2.5:0.0:0:1-9.0;2-9.0:0.2:0.2:0.2:18.4:14.1
A2:Herbicida:18.0:2.0:0.0:1:1-1.5;2-3.0;3-3.0;4-3.0;5-3.0;6-3.0;7-1.5:0.2:0.2:0.2:17.5:18.0
A3:Rulo:6.0:2.0:0.0:0:1-1.0;2-1;3-1:0.2:0.2:0.2:25.5:16.0
A4:Cultivador:5.0:2.0:0.0:0:1-5.0:0.2:0.2:0.2:23.6:12.1
A5:Sembrar:5.0:0.0:0.0:0:1-2.0;2-3.0:0.2:0.22:0.2:41.1:5.0
A6:Vertedera:2.5:0.0:0.0:0:1-2.5:0.2:0.2:0.2:15.4:12.0
A7:Grada:4.0:1.0:0.0:0:1-1.0;2-1;3-1;4-1:0.2:0.2:0.2:31.5:12.7
A8:Corte:12.0:-2.5:0.0:0:1-12.0:0.1:0.2:0.2:25.5:14.0
Apero:Abono
disTarget:0.2
-----------------
Atajos de teclado.
-----------------
Auto:a
Marcar:7
Contorno:4
Ancho:1
Nuevo:0
Cargar:r
Conectar:9
S:s
GPS:u
Salir:6
A:w
B:e
C:2
Disp_right:+
Disp_left:-
Zoom+:k
Zoom-:l
Disp_left:-
Dimension:.
Horizonte:*
Teclas:/
Turn_right:p
Turn_left:o
----------------
Archivo
----------------
filename:Abono
-----------------
COLORES NOCTURNOS
-----------------
nocturnosActivados:0
-----------------
PINTAR CICLOS
-----------------
unoDeCada:5
-----------------
TOPCON GNRMC
-----------------
GNRMCActivated:0
-----------------
TRAMOS
-----------------
velMinActivacion:.5
-----------------
PANTALLA
-----------------
WWIDTH:400
WHEIGH:600
POSX:0
POSY:0
SETINITIALSIZE:0
HIDEPANELS:0
-----------------
Estimacion angulo
vehiculo
-----------------
titaEstimation:0
avgFilterActivated:1.0
nOfTitasForAverage:1.0
-----------------
Paso de TN a GN
-----------------
kConv:-1
-----------------
Filtros digitales
-----------------
avgFilterForVelocityActivated:0
nOfVelocitiesForAverage:9
lowPassFilterActivated:0
-----------------
Filtro de Kalman
-----------------
KActivado:1
dtKalman:0.01
mathmodelCovariance:1
-----------------
Geometria vehiculo
-----------------
KGpsEje:2.9
bVehiculo:2.9
uid
-----------------
control automatico
-----------------
cutCurrent:5.0
cutCurrentTransition:9.1
agrupadosBAuto:0
agrupadosMarcarAuto:0
lengthTransition:1.4
tolTransition:0.08
tolAnguloRuedas:0.0
numMaxOfRectRuedas:30.0
tolDesiredAngle:0
numMaxOfSameDesiredAngle:10000000
passPerDegree:1200.0
kDeltaIzq=1.0
kDeltaDer=1.0
relativeAlgth:0
kRelative:.5
tolPasos:10
kp:0.1
ki:1.0
workingAcc:6250
velMaxMotor:100
lookAhead:0.2
kIErrorDist:0.2
kDErrorDist:0.2
maxRotationAngle:99999
angMaxLookAhead:50.0
kLookAhead:1.0
kV:0.15
kDelta:1.0
kDeltaClose:1.0
eLimitCloseFar:1.5
kDeltaFar:1.0
kIErrorDistFar:0.0
lookAheadFar:10.0
pivotCorrection:1.0
velMaxAuto:10.0
velMinAuto:1.0
timeNT:1.0
rotACM:10.0
------
IMU
------
imuActivated:0
HOSTIMU:localhost
PORTIMU:4223
UIDIMU:6dJZvJ
OOUIDIMU:6rnfpd
kComplementary:0.42
kRoll:0.0
hRoll:1.8
coriolisFactor:1.0
FIR:80
omegaCorrection:0.015
------
SOFTIDOSE
------
softidoseActivated:0
PORTSoftidose:12
BAUDSoftidose:9600
------
Reverse
------
tolReverse:10.0
------
JUMPING
------
antiJumpingActivated:1
distJumping:5.1
------
SUAVIZADO
------
smoothIndex:1
-------
DC
-------
shouldCheckDC:0
-------
ENCODER INVERTIDO
-------
signEncoder:-1
-------
EXC ANTENA
-------
eAntena:0.0
-------
TADELANTO
-------
tAdelanto:1.5
ratioTAdelanto:1
-------
ADELANTO EN CURVA
-------
aCurva:1.0
-------
OFFSETCONTOUR
-------
offsetContour:1.0
-------
AutomaticTurn
-------
aTMaxAngle:18.4
atLimitAngle:70.0
LERotation:3.0
nARotation:2
kED:0.5
kEA:0.5
aCurvaRot:0.0
stanleyTime:0.0
offsetAT:14.1
warningHeadland:5.0
dGap:0.2
-------
Electrovalvulas
-------
comValvulas:49
--------
Motor
--------
dtLoop:0.05
--------
Control
--------
iPower:0.0
-------
UTM control zone
-------
utmControl:0
-------
Curves
-------
smoothPoints:6
searchTol:20
extraCurve:100.0
nCalculateCurves:1
angleCleanCurve:2
----
Control
----
portRBTQ:25
imuV2Activated:1
rbtqMode:1
---
BOOMS
----
tAdelantoCierre:0.0
tAdelantoHidraulico:1.0
boomBoxControl:0
percentOverlap:95.0
----
Simulator
---
simulatorOn:0
-------
BOOMS
-------
boomButtonsOn:1
-------
Contorno
-------
rToCloseContour:5.0
confirmationRecordMessage:1
------
CEnterrada
------
disTarget0:0.1
disTarget1:2.51
disTarget2:0
disTarget3:0.86
-----
CONTROL
-----
kVDerivative:0.02
dControl:0
------
Windows
------
osPlatform:64
------
Entry
------
LEntrada:1.0
IEntrada:0.2
DEntrada:0.2
kCaption:2.0
------
Filter
------
antiRollFilter:0
nAntiRoll:3
antiRollGain:0.48
antiRollTolerance:2.0
------
Integral
-------
tolIntegral:0.5
tolAngular:10.0
Plantacion
----------
dPlantas:5.0
tAdelantoSensorPlanta:0.679
dispMarcacion:0.1
Debug
---------
debug:0
Vehiculo
---------
vehicle:cerea
Control
----------
kProportional:1.0
Esquema
-----------
autoRotSch:0
Trailer
-----------
AT1:0:3.0:3.5
AT2:1:2.0:3.6
AT3:0:3.0:3.0
AT4:0:3.0:3.0
AT5:0:0.5:3.0
AT6:0:3.0:3.0
AT7:0:3.0:3.0
AT8:0:3.0:3.0
Curve
--------------
distRecordCurve:0.5
recordCurveInContour:0
nMaxParallelCalculations:2
Avg
---------------
nAvgPosition:3
avgPosition:1
CiclosSinDisparo
----------------
noFireCicleMax:10
CEnterrada
----------------
anchoCalle:17.5
nHileras:8
anchoHilera:0.52
Imu
----------------
taraRoll:0.0444279209724
Plot
----------------
plotAltOn:0
plotAltMax:900.0
plotAltMin:700.0
plotVelOn:0
plotVelMax:5.0
plotVelMin:1.0
plotVarExtOn:0
plotVarExtMax:10.0
plotVarExtMin:0.0
plotVarStandardOn:1
Simulation
-----------------
latitudeSim:41.759739
longitudeSim:-4.881612
UTM
-----------------
longOrigin:-6
-----------------
sobrante1:0.69
Guiado
------------
moderna:1
Filtros
-----------
ortoPercent:1.0
nActuatorFilter:1
Gestion
------------
Agr:1
nExport:70
urltoken:https://app.agroptima.com/es/api/v7/token-auth/
urlimp:https://app.agroptima.com/es/a…ed_fields=official_fields
urlexp:https://app.agroptima.com/es/api/v7/devices/tracks/
tokenagr:sintoken
emailagr:cesardominguez@cereagps.com
------------
distautocontourin:0.5
distautocontourout:0.0
------------
autorotASString:1-D,3-I,5-I,2-I,4-D,6-I
------------
SWITCH
------
switchActivated:0
PORTSwitch:3
puertoCom:0
OPTIONS
-------
shouldLaunch:1
shouldScan:0
uriRTKLIB:C:\Users\cesar\Desktop\RTKLIBTIMMOD JavierGr 1.9\RTKLIBTIMMOD JavierGr 1.9\rtknavi.exe
uri2RTKLIB:C:\Users\cesar\Desktop\RTKLIBTIMMOD JavierGr 1.9\RTKLIBTIMMOD JavierGr 1.9\rtknavi.exe
serverIPAndroid:192.168.43.1
-----------
urlnewconto:https://app.agroptima.com/es/api/v7/fields/field/
urlmodconto:https://app.agroptima.com/es/api/v7/fields/field/
...
Reverse
------
ReverseFactor:1.8
------
Kalman
------
clasicoKFActivated:1
nuevoEKFAcivated:0
-------
CInterior
-------
CIDActivated:0
CIDDistance:6.6
------
nExportCont:2
exportAgrExit:0
-------
integralClasic:1
-------
EKF20:0
ReverseDFactor:1.0
-------
isVisibleD1:1
isVisibleD2:1
isVisibleD3:1
-------
xteSoundActive:0
xteSoundMin:0.3
xteSoundMax:0.4
-------
sigmaGPS:0.1
sigmaYawF:0.01
sigmaYawR:0.001
--------
nameBtnRTKLIB:RTKLib1
name2BtnRTKLIB:RTKLib2
---------
widthOverlap:0
---------
complementaryDT:0.05
deltaAlarImu:1e-7