ArduRover User Group

Dedicated to the exchange of useful information between members using the Arduino or other families of processors for autonomous rovers.

Members: 516
Latest Activity: 14 hours ago

Before Posting an Issue

Hi All,

Before posting an issue or a problem in the ArduRover Discussion Forum, please check the wiki table of contents, review the firmware release notes in the subforum, and search that subforum for existing answers to your question. Help avoid duplicate threads by finding other members with the same issue and their solution.

When formulating your post, use a descriptive title such as "rover will not navigate to waypoints in the Auto mode" (not "HELP!" or "Problem").

Please include the following information to help diagnose your query:

  • Describe the problem you are having. What is the expected verses the observed behavior?
  • Provide hardware information such as the brand and version of your autopilot, GPS, radio, and compass, as well as any other pertinent details about your rover setup.
  • What version of the APM: ArdurRover2 firmware version are you running?
  • For navigation issues, provide your tlog and/or dataflash log. Click here for instructions on retrieving a dataflash log.


Discussion Forum

Brushed esc getting hot when connected to arducopter board

Started by Varunlal V yesterday. 0 Replies

My Brushed esc getting hot when connected to arducopter board,But its working smooth with the servo tester and motor run both direction and stops so all fine when tested with servo testerwhen esc…Continue

Steering ardurover without servo

Started by Varunlal V. Last reply by Thomas J Coyle III on Tuesday. 1 Reply

can we control the brushed motors using brused esc such that, if we want to reverse the rover, then can we rotate the parallel motors in opposite direction?Continue

Any modification should be made to apm 2.6 with brush ESC?

Started by Ben. Last reply by Varunlal V on Tuesday. 10 Replies

i am newbie to ardurover, and want to build an ardurover from scratch with brush motor. does the APM 2.6 can directly control brush ESC, if not, what is the modification should i made to apm.Regards!Continue

APM 2.6 UGV - 2 motors + chain system + ArduRover/APM control

Started by U Hobbies. Last reply by Siddharth Shivalkar on Tuesday. 3 Replies

Okay, so we're planning our new project, basically a rover driven by 2 motors and a chain/gear system, almost exactly like this: …Continue

Tags: control, APM, motors, 2, 4WD

Comment Wall


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Comment by RoboBill on March 23, 2014 at 7:14am

Yes, at least for me, there is confusion. For instance, slots 1 and 2 of Aux Outputs are renamed RC9 and RC10 after you place the APM Rover sticker on the top of the Pixhawk. Then the docs say that the signal pins are actually "virtual pins" with numbers 50 and 51. But to make use of these two slots during a mission, I discovered I must use 9 and 10 as the parameters in the "Serv No" column.

Comment by Thomas J Coyle III on March 22, 2014 at 3:34pm


Nice work. The following Pixhawk Wiki section Link explains the use of the AUXSERVO pins:

Digital outputs (50-55)

The Pixhawk has no dedicated digital output pins on its DF13 connectors, but you can assign up to 6 of the “AUX SERVO” connectors to be digital outputs. These are the first 6 of the 14 3-pin servo connectors on the end of the board. They are marked as AUX servo pins on the silkscreen. (1 – 6 with white background on image above).

To set the number of these pins that are available as digital outputs you set the BRD_PWM_COUNT parameter. On Pixhawk this defaults to 4, which means the first 4 AUX connectors are for servos (PWM) and the last 2 are for digital outputs. If you set BRD_PWM_COUNT to 0 then you would have 6 digital outputs and still have 8 PWM outputs on the rest of the connector.

The 6 possible pins are available for PIN variables as pin numbers 50 to 55 inclusive. So if you have BRD_PWM_COUNT at the default value of 4, then the two digital output pins will be pin numbers 54 and 55.

AUXSERVO pin 1 is virtual pin 50 and pin 6 is virtual pin 55.

Are you using the AUXSERVO pins for your servo control? If you are then there is a problem with the virtual pin numbering in relation to the Wiki explanation for the AUXSERVO pin identification.


TCIII ArduRover2 Developer

Comment by RoboBill on March 22, 2014 at 2:39pm

I finally got do_set_servo to work. I'm a complete novice at this so if what I say is obvious....sorry

I've set the BRD_PWM_COUNT to 2... the do_set_servo SER NO parameter is not 50 or 51 but 9 or 10... not sure about any others... I just need two so I'm happy

Thanks to TCIII for his patience

Comment by Thomas J Coyle III on March 21, 2014 at 7:58am


Tridge developed an auto start function that did not use the receiver to control the rover modes for the Sparkfun 2013 AVC. To enable this function, set the following parameters as indicated:




AUTO_TRIGGER_PIN (Select an Analog pin not used by another function)

Attach a push on/push off switch to the selected Analog pin input. When the Analog pin input is pulled low, the rover will start out in the Auto Mode. Returning the Analog pin high will disable the Auto Mode after the Mission has completed and the rover has stopped.


TCIII ArduRover2 Developer

Comment by Interested in Quads on March 20, 2014 at 11:23pm

Love ArduRover so far and it is working great.  I am currently working on testing the ArduRover without a Remote.  I have disabled the failsafe, but it has the "expected" behavior of moving full reverse when the motors are enabled as it believes the PWM is at full low or reverse.  Is there a good way to solve this problem?  Thanks.

Comment by RoboBill on March 20, 2014 at 6:11am

Please... a simple question

Is the do_set_servo command currently available for the rover?

Comment by MikeRover on March 17, 2014 at 5:31pm

I have to say the current navigation repeatability is excellent.  I hit the fence the second time within about nine inches of the first impact point :)

Comment by Thomas J Coyle III on March 17, 2014 at 4:40am


I believe that the Mission Planner has a SITL. There is a tab in the Mission Planner for "Simulation".

The next release of the ArduRover2 firmware will probably be for the Pixhawk and will allow the use of a 2nd GPS which the Pixhawk is capable of doing compared to the APM which is limited to one GPS.

The team will also continue to improve the navigation capabilities of the L1 code to improve turning in corners and course repeatability.


TCIII ArduRover2 Developer

Comment by MikeRover on March 16, 2014 at 7:59pm

Any ideas on when the nex Rover build will be released?

Also, is there a way to run a mission in software?  I'm playing with waypoints and trying to understand some of the steering / navigation parameters and it would be handy to see what a "perfect" mission would look like based on my settings.

The complication is that the nav parameters are a function of the L1/steering settings as well as speed, so you can't even "work up" to a full speed mission as the path will change.

Comment by RoboBill on March 13, 2014 at 1:19pm

Since I'm real new to all this, it may just be my imagination, but I dl'd the latest Pixhawk f/w and the pivot turning seems to be working better.. i.e. completed a 180 turn.


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