Autoplot

Autoplot Prerequisites

If you have not calibrated the rover IMU or have made recent changes to the rover, use the IMU Calibration settings pane to calibrate.
With the rover on flat ground, click Start Calibration to begin.
You will see a popup to remind you to move the rover to flat ground. Click Confirm to continue. Calibration should complete within a few seconds.

The autoplot app requires accurate robot geometry information to be entered in the brain.
Measure the wheelbase and track width using a tape measure.
Find the center point of the amiga using these measurements.
Measure the placement of the top camera (OAK0) for IMU Offset and the GPS antenna for GPS Offset relative to this center point.
The x and y offset definitions can be seen in the image below (via farm-ng). Facing the direction of the dashboard, negative y values are defined as right of the center point while negative x values are defined as behind the center point.

Once the offsets have been found, update the values in the Robot Geometry pane of the settings tab.
Click Apply to save the robot geometry and proceed.

Ensure base station credentials are populated in the GPS NTRIP settings pane.
When GPS is properly connected, the GPS symbol will not be crossed out and the GPS RTK CONNECTED message will be present on the GPS NTRIP tab, as seen here.
Make sure the amiga is connected to WiFi.

After satisfying the prerequisites, open the Autoplot app from the amiga Brain.
After some load time, two camera streams will be visible on the left side of the screen.
To create a new path, click the New Path button. Begin driving the amiga along the path using the pendant.

When you've reached the end of the desired path, click Save Path and give the recorded path a name. If you deviate from the desired path, you can click Pause and Remove Point to fix the path before resuming recording.

To follow a path, click the Load Path button to see the saved path recordings. Select the path you'd like to load.

In the auto control tab, press the AUTO CONTROL button to turn auto control on.

Once auto control has been turned on and all other prerequisites have been met, the status indicators on the amiga Brain should be as shown:

If there are no issues, the Start Path button can now be clicked in the Autoplot app. Path following will work best if you Start Path with the amiga close to the starting point facing the same direction as when the recording was started.

If any prerequisite service on the status bar is crossed out, click the icon for more information.
If the Start Path button is still shows a question mark, press the button for information on the error.
Errors related to GPS accuracy can be avoided by adjusting the thresholds in the Robot Localization settings pane.
Guidelines on adjustment of the distance and time thresholds are provided within the settings pane. We recommend increasing the Path Deviation Threshold and Minimum GPS Accuracy values to avoid errors. The exact values to increase to should be determined by in-field testing and may vary based on distance from RTK base station.
To adjust the speed of the amiga in auto control mode, open the Track Following settings pane and adjust values as needed.
A maximum linear speed of 0.5 to 1 m/s is recommended to maximize image quality.