ArduRover User Group

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

Members: 370
Latest Activity: 2 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

Which firmware version is currently best

Started by RoboBill. Last reply by Thomas J Coyle III 2 hours ago. 9 Replies

I read somewhere the official 2.46 had track steering problems. I understand the current beta fixes that issue. Many thanks to all developers. But the current beta now seems to have disabled the…Continue

GPS precision on pixhawk ?

Started by heliboy. Last reply by heliboy on Saturday. 2 Replies

Perhaps only the developers can answer this question. What is the resolution of the GPS2 input on the PIXHAWK ? If we had a decimeter precision GPS would the Pixhawk correctly use the higher…Continue

custom R/C controller and apm2.6

Started by Apostolos. Last reply by Thomas J Coyle III on Saturday. 5 Replies

Let me ask a silly question.I'm trying to build a custom R/C controller to control my rover.What sticks are used to control a 4wd rover with skid steering ?can someone explain what the left stick…Continue

Configuring the ArduRover with the Mission Planner

Started by Thomas J Coyle III. Last reply by Charles lakins Oct 12. 145 Replies

Hi All,I have started this discussion to help members, like myself, who have really had only limited experience with the Mission Planner (MP).Since the MP can download the latest or any version of…Continue

Comment Wall


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Comment by Mike Wilson on June 6, 2013 at 10:31pm

@ Tom or John,

I'm trying to set the Steer "D" values to zero but for some reason, the APM is not accepting the settings and they go back to 0.2 if I disconnect and reconnect to the APM.  If I write the parameters and then do an immediate read, the values are correct but if I do a disconnect and reconnect, the values are back to their default.

Am I missing something or is this a bug?



Comment by John Hestness on May 30, 2013 at 8:34pm


Unfortunately I did not save my parameters, but I believe they are the default parameters except the heading2steer and servo2steer, the "D" I changed to zero.  I have some other experience with tuning and it seems that the D parameter is not often needed.  I watched your video, your rover is running great. I look forward to hearing and seeing more.


I think you are right, we need to build drones/rovers/robots that do real work. This is my real motivation behind the hobby.

Comment by Thomas J Coyle III on May 30, 2013 at 12:36pm

Hi All,

Today I verified John Hestness' observation that setting the D (derivative) of the two steering PID control loops to zero did indeed stop the jittery rover steering.



Comment by Gary McCray on May 29, 2013 at 6:09pm


Really nice design, stairs are a serious problem, great solution.

I am looking at similar electronic design to yours and am hoping to use PX4 as controller although it is a bit light on IO.

Another interesting possible option that I am also considering is a USB multiaxis (up to 9 axis) CNC controller from Planet CNC, they have a ton of IO and are set to handle Steppers (which I plan to use) as well as encoder feedback.

I am thinking of using Fit PC2i in same location as yours (with Kinect) although there are some other SBPCs I am looking at too.

The APM2.5 has quite a large amount of general purpose IO, but the APM software may not be ideal for you.

The PX4 supports the APM software, but it also independently supports ROS which would probably be better and easier to integrate with your FIT.

The Planet CNC controller has its own CNC G-code interpreter built in but comes with an SDK that will let you dial your own responses.

Here's a copy of their manual:

The biggest problem I see is that you really need to combine the capabilities of Windows, Ubuntu Linux and ROS (at a minimum) to make this a reasonable undertaking.

Comment by KM6VV on May 29, 2013 at 6:00pm


Wow!  That's a unique set of wheels!  So all four wheels are independently powered?  I'm using a 2X15 A roboclaw (2 channels), so each set of 3 wheels is driven from a single motor on each side.

I designed and built my platform, and now I will design and program it for autonomous (robomagellan) moves.

Alan  KM6VV

Comment by Jared Crouch on May 29, 2013 at 5:37pm


For motor control I'm using two SABERTOOTH 2X25 V2. They are capable of providing two DC brushed motors with 25A continuous current in the voltage range from 6-30V. Awesome feature is the regenerative braking, that feeds energy back into the battery on deceleration.

Some videos of the robot: and (the guys in the vids designed and built the platform, now my task is to get it to an autonomous stage.)

Comment by Thomas J Coyle III on May 29, 2013 at 5:05am


Nice work. I have noticed the low frequency jitter in the steering also, but it seemed to average out to zero so it did not appear to have any real affect on the steering in general. However, I plan to be testing today and will try a D setting of 0 to see if the jitter goes away.

Also, you might want to experiment with HDNG2STEER_P and XTRK_GAIN_SC.

You might try increasing HDNG2STEER_P  to .9 or slightly more and XTRK_GAIN_SC to 140.



Comment by MVeloso on May 29, 2013 at 1:37am

@ John

What PID are you talking about? Heading2Steer ?

Could you please post your all values?

And what APM are you using?

Thank you.





Comment by John Hestness on May 28, 2013 at 8:58pm

I have been testing my slash based rover for a few weeks now.  One issue that I had was significant oscillation in the steering control (turning quickly left and right).  Today I tried setting the D (derivative) of the two steering PID control loops to zero.  Instantly the problem was solved.  It is way better. Then I slightly increased the P and I and it is better still.  This is starting from default settings.  It is not often that I see a huge and immediate improvement from such a simple change.  It was awesome to see my rover behaving exactly the way I thought it should. 

Comment by KM6VV on May 28, 2013 at 5:29pm


That's about what I'm doing.  S.L.O.W.L.Y learning ROS.   What are you using to drive your 'bot?  I'm using a roboclaw dual motor controller, and I do use an Arduino "in between" along with (for now) an APM. 

I want to migrate all GPS, LiDAR, IMU, ultrasonic sensors up the the mini-ITX, but I'll keep the wheel encoders connected to the roboclaw.

For a while, the APM can talk to the Arduino and motor controller, and run the 'bot.

Alan  KM6VV


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