Problem statement
Scheduled work plans or user initiated work plans fail to start when the rover has insufficient L2 count and shows GPS disconnected. The user must manually drive the rover to a location with good GPS signal before starting a plan to mitigate.
Background
The charging pad location works fine parking the rover and there are no navigation issues when operating or returning to charge. After parking/charging, the L2 count drops too low (5-9) while total satellite count is over 20 resulting in GPS disconnected condition. The signal will flip from disconnected to strong. Rarely is there a yellow state. The data center is mounted at a roof peak and doesn’t exhibit issues.
When L2 count is at least 9 (is sometimes as low as 7), GPS is Strong and the rover will leave the charging pad without requiring manual operation. L2 satellite count varies by time of day at the charging pad location (puts rear of rover and pad near 2 story building). The charging pad location is not able to move elsewhere.
Feature request
Create a feature that allows the user to define a pathway to navigate from the charging pad to a location with known good GPS signal when GPS signal is low or disconnected
- The user defined pathway should drive the rover from the charger to a location with sufficient GPS L2 satellite count. This could be the path connected to the charger or one specific for satellite signal recovery.
- The rover should use cameras and sensors to avoid obstacles and stop if anything is blocking the path