Support for new ZED F9R dynamic modes

[j-w-bullfrog]

Subject of the issue

In the ZED-F9R-02B with firmware FW1.00 HPS1.21 support for new ZED F9R dynamic modes of escooter and were added robo mower were added. I know that you have a manually add imu position for the mower. Not sure about the escooter. Details of how this is dome are in the XED-F9R integration manual dated Sept 20 2022.

Your workbench

RTK express in base mode, RTK express + in rover mode. v3.1 s/w. wifi, or serial config, or with u-blox s/w.

Expected behavior

Update firmware to add the two new automotive dynamic models

BTW, I believe this is the proper config for a f9 w/o wheel tick sensors.

Config changes format version 1.0

created by u-center version 22.07 at 15:01:38 on Friday, 10 Mar 2023

[del]
[set]
Flash CFG-NAVSPG-DYNMODEL 11 # write value 11 - MOWER to item id 0x20110021 in layer 2
Flash CFG-SFIMU-IMU_MNTALG_YAW 0x0 # write value 0 0x0 to item id 0x4006002d in layer 2
Flash CFG-SFIMU-IMU_MNTALG_PITCH 0x0 # write value 0 0x0 to item id 0x3006002e in layer
Flash CFG-SFIMU-IMU_MNTALG_ROLL 0x0 # write value 0 0x0 to item id 0x3006002f in layer
Flash CFG-SFODO-DIS_AUTODIRPINPOL 1 # write value 1 to item id 0x10070005 in laye
Flash CFG-SFODO-COMBINE_TICKS 0 # write value 0 to item id 0x10070001 in layer 2
Flash CFG-RATE-NAV_PRIO 0xa # write value 10 0xa to item id 0x20210004 in layer 2
Flash CFG-NAV2-OUT_ENABLED 1 # write value 1 to item id 0x10170001 in layer 2
Flash CFG-SFIMU-AUTO_MNTALG_ENA 0 # write value 0 to item id 0x10060027 in layer
Flash CFG-SFODO-USE_SPEED 1 # write value 1 to item id 0x10070003 in layer 2

[nseidle]

This has been added but is wholly untested. I should have access to F9R hardware around Tuesday this coming week to test everything.

Please checkout the Mar 11 RC or later.

[j-w-bullfrog]

Nathan, Feel free to send it to me, I'll beta test it. Ben https://www.linkedin.com/in/bentreichel ¸ ... ___________ ·´º o`·, /__/ _/\_ ____/\ ```)¨(´´´ | | | | | | | || |l±±±±| °´ ¸,.-·~·~·-.,¸ `°·-. :º° ·~·~·-..,¸ As for me and my house, we will serve the Lord! (Joshua 24:15)

…

On Sat, Mar 11, 2023 at 2:46 PM Nathan Seidle ***@***.***> wrote: This has been added but is wholly untested. I should have access to F9R hardware around Tuesday this coming week to test everything. [image: image] <https://user-images.githubusercontent.com/117102/224510793-f7194d0f-ec04-46e0-8e5b-86e46874c8b1.png> Please checkout the Mar 11 RC or later. — Reply to this email directly, view it on GitHub <#423 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AH2UE24UKWPB5JF5T34DSCTW3TQDJANCNFSM6AAAAAAVW44USU> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[nseidle]

RCs are on the release page.

[j-w-bullfrog]

👍 https://www.linkedin.com/in/bentreichel ¸ ... ___________ ·´º o`·, /__/ _/\_ ____/\ ```)¨(´´´ | | | | | | | || |l±±±±| °´ ¸,.-·~·~·-.,¸ `°·-. :º° ·~·~·-..,¸ As for me and my house, we will serve the Lord! (Joshua 24:15)

…

On Sun, Mar 12, 2023 at 10:15 AM Nathan Seidle ***@***.***> wrote: RCs are on the release page <https://github.com/sparkfun/SparkFun_RTK_Firmware/releases/>. — Reply to this email directly, view it on GitHub <#423 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AH2UE246ROF5TERBE2GP4CTW3XZCBANCNFSM6AAAAAAVW44USU> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[j-w-bullfrog]

Starting to work with it today. Seeing some oddities, will define them better I report anything. Did get a ntrip caster going last week (RTK express), mt point id WE-Base.

[j-w-bullfrog]

Express + with the 3.3 dev will fail on startup sometimes. It may come back after that, or it may go to started but no sats, 0 for correction. If I do a wifi config and re-write the file it seems to correct itself. It also may be failing after you log data to the sd card. I have seen in the arduino serial monitor that when "rover failed" msg comes up, that little fs complains about no config file.

[j-w-bullfrog]

WiFi IP address: 192.168.50.141 RSSI: -23
Rover Accuracy (m): 0.0398
Rover Accuracy (m): 0.0386
Batt (91%): Voltage: 4.12V Discharging: -9.57%/hr Green
Rover Accuracy (m): 0.0379
Rover Accuracy (m): 0.0372
Rover Accuracy (m): 0.0366
Batt (91%): Voltage: 4.12V Discharging: -9.57%/hr Green
Rover Accuracy (m): 0.0358
WiFi IP address: 192.168.50.141 RSSI: -32
State: Shut Down, 2023-03-21 19:44:15.026

POWER CYCLE

LittleFS Started
SparkFun RTK Express Plus v3.3-Mar 12 2023
settingsFile not found in LittleFS
settingsFile not found in LittleFS
settingsFile not found in LittleFS
settingsFile not found in LittleFS
settingsFile not found in LittleFS
settingsFile not found in LittleFS
settingsFile not found in LittleFS
Profile 'Profile1' loaded
MAX17048 configuration complete
Batt (91%): Voltage: 4.20V Discharging: -5.41%/hr Green
Module failed config block 0
Module failed config block 2
GNSS configuration complete
Accelerometer configuration complete
System time set to: Tuesday, March 21 2023 19:45:02
Rover config failed
Batt (91%): Voltage: 4.20V Discharging: -1.25%/hr Green

Pretty consistent behavior when using wifi config. Sometimes will switch to 'portable' sometimes pulldown shows blank, wheits pulled down the new modes aren't listed

However, you look at it in serial monitor and its says this.

Menu: GNSS Receiver

1. Set measurement rate in Hz: 10.00000
2. Set measurement rate in seconds between measurements: 0.10000
3. Set dynamic model: Mower

It seems to get lost in both modes. Here is the ucenter view.

[j-w-bullfrog]

In order to get the express plus to work today, and acknowledge that the two modes existed was to go into u-center and set layers 0 -2 (7 is not settable in u-center) to mower. I then had to go into setup mode where I could then see the two new modes in the drop down menu. exit & re-set, haven't power cycled it since.

[j-w-bullfrog]

I was able to power cycle it several times yesterday w/o problems. However this morning it was acting up "rover failed" . I power cycled twice, same result. Then, I had an idea, and forces it to load profile1, and it was happy. Profile 1 is the only profile1 in there since I did a factory reset 3 days ago, JIC it was chocking on something.

[j-w-bullfrog]

Whatever is going on with this; the fix is to manually load the profile. There is only 1 profile in memory, and it is "profile1'. Booting with 0 sats' had to do with a flakey antenna cable that could cause that fault from the giggling that comes from touching the power button, or moving the unit a bit,. (yes it was tight).

[j-w-bullfrog]

Found an unnamed profile slot in position 3 and eliminated it. That eliminated my capability to to manually chose in setup profile 1. Therefore I made 'profile2" so I could use setup to get to my fix. What seems to be happening is on boot it may pick the current profile, or the second profile that is set up, or one that isn't set up? I can see this behavior because profile 2 is set to portable. Yet, profile one is the chosen 1.

Menu: User Profiles

1. Select Profile1 <- Current
2. Select (Empty)
3. Select
4. Select (Empty)
5. Select (Empty)
6. Select (Empty)
7. Select (Empty)
8. Select (Empty)
9. Edit profile name: Profile1
10. Set profile 'Profile1' to factory defaults
11. Delete profile 'Profile1'
    x) Exit

Menu: User Profiles

1. Select Profile1 <- Current
2. Select (Empty)
3. Select (Empty)
4. Select (Empty)
5. Select (Empty)
6. Select (Empty)
7. Select (Empty)
8. Select (Empty)
9. Edit profile name: Profile1
10. Set profile 'Profile1' to factory defaults
11. Delete profile 'Profile1'
    x) Exit

[nseidle]

I'm digging into this a bit. Can you confirm you are using ZED-F9R firmware HPS 1.30? Easiest to see under the System Menu (below):