Segway RMP 50XL Odometry value problem

RMP 50, 50XL, 100, 200, 400
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phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

Some good news, I did a little more digging and it seems that your machine has the old RMP50 code installed. I loaded that code on a machine here and had all the same results that you did. I will be sending you an updater package which should fix all of your issues.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Yes, all problems seem to be gone. The update fixed all issues.

Thanks.

ChrisC
Posts: 43
Joined: Fri Apr 20, 2012 8:22 am

Re: Segway RMP 50XL Odometry value problem

Post by ChrisC »

Follow-up question regarding this issue:
"As you would recall we had a firmware problem that was solved with a firmware update. Now each time I remove the batteries, I have to reapply the update. Is there a permanent way to update the firmware?"

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

The firmware should not be affected when the battery is changed. The process to change the flash state on the CU processor requires a series of secure hardware and software steps.

Could you please send some data logs (raw and interpreted)? The build ID is contained within message 0x0400 data_word0 (see attached) to see if the software is infact altered after changing the battery.
GenII RMP50 Feedback Data.pdf


I suspect that something else is going on and need more information to help.

Thanks,

-Patrick
You do not have the required permissions to view the files attached to this post.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Hi Patrick,

Sorry for the late reply.

I just changed the batteries and the build ID is: 0x0BEA

With decimal conversions:
Build id: 3050
Build date: 1550
Build time: 2850


Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

3050 is the latest release for the RMP50XL, so I do not think that changing the battery is altering the firmware in the platform. There must be something else going on. If you can run a test I will have someone run it in parallel at Segway.

Run the machine at 0.5 m/s for 1m. Measure the distance traveled.

Change the battery to cause the issue:

Re-run the test and measure the distance again.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Hi Patrick,

When I run the platform at 0.5m/s for 2.05m the odometry reported me 1.017m displacement. The behavior is very same as if I hadn't updated the firmware.

When I update the firmware I follow these update instructions:
1- Update User Interface firmware -- load .bin file

2- Update POwerbase firmware -- load .rex file then load .bin file


I wonder my update procedure is wrong. Should I only do the step 2, since it also updates the interface in the end?

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

The build information on the machine is the latest release after you removed the battery and experienced the issue; indicating there no effect on the firmware due to removing the battery. We will try and replicate it at Segway to see if it is reproducible.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Hi Patrick,

Any luck on producing the same behavior?

Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

I have just run testing and reproduced the behavior, but I need a little time to figure this one out. I will get back to you later today with a status.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

Hi Akin,

I have identified the issue and the fix. It turns out that you found a bug that has existed since the codebase creation ~10 years ago. Thank you for pointing it out. I will be fixing it and posting a release tomorrow as well as an answer to your question about the propulsion and aux battery state of charge. I will also give an explanation of the bug. We are committed to resolving this issue for you.

Keep in mind that these issues only exists in the deuce board based platforms which have not been actively supported or maintained in the last few years. You might consider upgrading your platform to the new architecture which is much more robust, feature rich, and fully supported and maintained. Chris can provide details if you are interested.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

Akin
Posts: 24
Joined: Mon Aug 13, 2012 12:21 pm

Re: Segway RMP 50XL Odometry value problem

Post by Akin »

Hi Patrick,

I look forward to get the new firmware. Will it be available at the forum, or is there an other address that I should go?

Yes I might be interested in upgrading the platform. I would be happy if Chris can give me the details.

Best

Akin

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

It will be posted in the morning, it has taken a bit longer because I have also updated all the tools and demo to work with the newest version of windows and the newest USB drivers.
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

phussey
Posts: 79
Joined: Fri Apr 20, 2012 8:12 am

Re: Segway RMP 50XL Odometry value problem

Post by phussey »

The new release is on the forum, let me know if you have any issues or questions.

http://rmp.segway.com/viewtopic.p ... p=305#p305
PATRICK HUSSEY
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

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