Hello everyone,
I have made a rover using cube orange and uploaded it with ardu rover v4.5.7. I want to plan a mission using mission planner or QGC etc. The problem I am facing is the rover wont go into auto mode after a plan is uploaded and and the gps just stops working out of nowhere. any help is appreciated
Thank you
It could be a power issue, or connections.
What makes you think the Here3 stops working? Is it losing position, or LEDs all go out?
the LEDs go out after a while. also everytime I try to arm, the gps goes to failsafe mode, even though I have disabled all of the checks
Update: I have figured out that it is an “EKF variance” error, just not sure how to solve this.
Thanks
The EKF variance is likely a symptom.
Set LOG_DISARMED,1 , reboot and go through your arming process again.
After all the events and symptopms are captured you can set LOG_DISARMED,0
Download the .bin log file and upload it to a file sharing service like Dropbox or Onedrive and post the link to it in here.
Thanks for the reply. I have attached the .bin log file below. I have also noticed that the ekf variance does not occur frequently if I am outdoors. It only happens when I am inside try to test small things. Is that a big reason for this error ?
log :
https://drive.google.com/drive/folders/1ULZjmOsSPM6vcUz0Gr7yi65DSiFofbPj?usp=drive_link
Inside a building will usually give problems because of steel in the concrete, steel frames, power wiring, all sorts of interference.
In that log the GPS only has about 6 satellites and an unusable HDOP. You’ll have to do tests outside to verify if everything is working correctly.
Try these to help the Here3
GPS_AUTO_CONFIG,2
GPS_GNSS_MODE,5
or test with 65 - whichever gives the lowest HDOP in your area.
I have tried it outside and it worked fine with the failsafes enabled. I think the testing indoor was the problem. Thank you for your input regarding this @xfacta
The problem now is the gps works fine but the location it shows is my neighbours and not mine and I need to plan missions later which makes planning tough.
If there is interference, multi-pathing or attenuation (from buildings, trees, etc) then the position will be inaccurate or wander. If there’s no choice regarding the poor GPS conditions then you may need to set up RTK $
One method is to set up a transmitter switch to record a waypoint, RCx_OPTION,7 , or just use the path from the log, drive the rover around the boundaries saving waypoints at turns - use that to construct your mission.
Can you please explain the transmitter switch method a little bit more 
. I am still new to using all this equipment and am not sure about a couple of things.
Choose an unused channel on you transmitter, do whatever you’ve got to do in the transmitter so that channel gets through to the flight controller. Prefer a momentary 2 position switch.
(Not all transmitters send all channels unless you specifically set them up)
Then in MissionPlanner, full parameter list, find your chosen RC channel parameters and set RCx_OPTION,7 (replace x with the channel number)
Then you can drive around the perimeter to corners, bends and obstacles, saving those waypoints as you go. If you have telemetry working you’ll be able to see those waypoints appear on the map as you go.
You will be able to see if the waypoints match the expected positions on the map too, which will tell you how well the GPS unit is working.
You can design your mission based on those waypoints.
https://ardupilot.org/rover/docs/common-learning-a-mission.html
Thank you very much for that, will try that out later today. Just one more question.
I tried everything outside right now and the gps shows my location now just, when I am inside my property( as in my garden), it shows I am outside. it is like a few meters offset to where I am standing. will this issue be solved if I recalibrate the sensors in the gps in open ?
There’s no need to recalibrate anything - probably what you are experiencing is multi-pathing where the GPS signals are reflecting off nearby objects and some are taking longer than others to reach your receiver. This gives you very poor position accuracy, or even shifts your position slightly.
The only fix is to move away from the objects.
Okay. Thank you for the advise. Will try this out and update you if the gps works properly or not.
EDIT : The gps works perfectly even without RTK. The accuracy is also quite decent for now. An open ground made a quite a bit of difference in the accuracy.
@xfacta Thank you for your inputs on this issue. You were greatly helpful. Appreciate it.