Simulator · Teensy 4.1 Settings

GNSS

–

Satellites: –
HDOP: –
Correction age: –
Speed: –
Latitude: –
Longitude: –
Altitude: –
Checksum errors: –
Receiver: –
Temperature: –
Setup: –

Steering

–

Requested angle: –
Distance to the line: –
PWM: –
Loop: –
Autosteer: –
Switch: –
Speed (program): –
WAS sensor: –
Pressure sensor: –
Last turned off: –
Message to the program: –
Keya motor (CAN): –
Angle from the GPS: –

Settings received from the program

Received: –
Gain (Kp): –
Maximum PWM: –
Minimum PWM: –
Low PWM: –
Counts per degree: –
WAS offset: –
Ackermann: –
WAS: –
Motor: –
Relay active: –
Switch type: –
Sensor: –
Kickout limit: –
IMU axis (roll): –
Wheelbase: –
Max wheel angle: –
Min steer speed: –

Max wheel angle and min steer speed are the program's own limits (AgOpenWeb sends them), shown only: the firmware cuts beyond ±50° and uses the speeds of its Settings.

Dual-antenna heading

–

Status: –
Source: –
Quality (QF): –
Antenna roll: –
Antenna distance: –
Second F9P: –
Its temperature: –
Setup: –

–

IMU

–

Status: –
Type: –
Roll: –
Pitch: –
Raw yaw: –
Alignment: –
Yaw direction: –
Temperature: –
Gyro calibration: –
Setup: –

Connections

Ethernet cable: –
Program: –
Program IP: –
Name on the network: –
Up for: –
Sentences: –
Choice: –
Heading sent: –
In AgOpenGPS: –
Epochs sent: –

Sent to the program:

–

The receiver sends (last 5 s):

–

RTCM corrections

NTRIP (program): –
Received: –
RTCM messages: –
Types: –
Radio (XBee): –
Received: –
RTCM messages: –
Types: –

Messages with errors: bytes lost or changed on the way (weak radio signal, wrong port speed).

XIAO ESP32 (Serial2)

–

Last hello: –
Packets to the XIAO: –
PGNs from the XIAO: –
Last PGN from the XIAO: –
Checksum errors: –
Lost: –
Received / sent: –
XIAO version: –
XIAO WiFi: –
WiFi network: –
IP on the WiFi network: –
XIAO temperature: –

Operating mode

AutomaticFinds out which program is connected, from the «hello» it sends every second, and sends that program's sentences. Until then, the AgOpenGPS ones, which AgOpenWeb reads too. AgOpenWeb$GNGGA, $GNVTG, $GNTHS (antenna heading) and $INHPR (IMU) every epoch. AgOpenGPS$PAOGI (UM982 or dual F9P) or $PANDA (X20P / F9P) every epoch. SimulatorOnly for tests with the program's simulator: the GPS is not sent to the program (AgOpenWeb switches its simulator off while it gets GPS, with or without a fix). Switch it off before going to the field.

Dual-antenna heading (UM982 / dual F9P)

Accept a float heading (QF 5)Off: only with QF 4 (fixed). UM982 only: the dual F9P uses only the fixed one, as the AiO firmware.

Longest wait for the VTG and heading after the GGADefault 60 ms. Longer delays the epoch; shorter may miss the heading (HPR or RELPOSNED).

IMU (TM171 / BNO085)

Swap roll and pitchIMU turned 90° on the board. The "Use Y axis" of AgOpenGPS swaps them too.

Yaw directionAutomatic: learned in turns, from the antenna heading or, without it, from the GPS course.

GPS2 port (Serial2)

On the GPS2 port: –Automatic finds a XIAO or a second F9P by itself. Off ignores the port.

Autosteer safety

Check the WAS sensorIf the WAS voltage leaves 0.2–4.8 V (broken wire, short, loose plug) autosteer switches off until the reading is normal again; the wheel always steers by hand. Off only on a bench without a WAS: the page and the program warn, and the angle goes to the program as 0°. On Differential a reading below −0.5 V is a fault too (nothing on AmpSeal pin 3). WatchdogRestarts the Teensy if the firmware stops for 2 s; half a second before, it switches the autosteer outputs (valve or motor) off. Switching it off takes effect after the Teensy restarts.

Steering

Minimum speedBelow it (the program's speed) the wheels are not turned. Default 0.2 km/h.

Maximum speedAbove it autosteer switches off. Default 25 km/h.

Soft startWhen autosteer engages, the valve or motor output rises over this time instead of jumping; on a big step or a change of direction, over half of it. Off: as before (default). Try 0.5 s in the field.

Kickout delayPressure or current sensor, a Keya's own current too (not its slip): autosteer switches off only when the reading stays above the limit this long, so a short peak does not stop it. Default 0.5 s; 0: at once.

Steering loopHow often the wheel angle is read and the valve or motor output updated. 100 Hz: as the AiO 26 firmware and AgOpenWeb's steering packets (the WAS read 250 times a second instead of 128); the gains stay the same. Try it once the tractor steers well at 40 Hz.

Saved in the Teensy (EEPROM) and applied at once, without a restart. The steering settings still come from AgOpenWeb / AgOpenGPS.

Notes about this installation

Wiring, calibration values, what was changed and when: whatever the next person at this module should know. Kept in the Teensy (EEPROM) through firmware updates, and put in the diagnostic report.

Teensy 4.1 Settings

GNSS

Steering

Dual-antenna heading

IMU

Connections

RTCM corrections

XIAO ESP32 (Serial2)

Machine module

Sprayer

Operating mode

Dual-antenna heading (UM982 / dual F9P)

IMU (TM171 / BNO085)

GPS2 port (Serial2)

Autosteer safety

Steering

Notes about this installation

GPS receiver

Receiver check

Second F9P check

Position

UART1 (wired to the Teensy)

Constellations

Position (UM982)

Dual-antenna heading

Constellations (UM982)

Messages to the Teensy (–)

Command for the UM982

IMU

TM171 calibration

TM171 setup

Teensy firmware

This Teensy

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