ArduRover User Group

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

Members: 439
Latest Activity: 9 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

Apm Rover in tractor setup.

Started by Matthew Reimer. Last reply by Hugues yesterday. 37 Replies

I want to use pixhawk with the apm rover firmware to operate an agricultural tractor. I need to set up my tractor as an rc vehicle.  My plan is as follows: any feedback I can get is appreciated.  I…Continue

How to Install Dual Sonars on a Pixhawk

Started by Thomas J Coyle III. Last reply by Thomas J Coyle III on Monday. 27 Replies

Hi All,I just completed installing dual Maxbotix MB1240 sonars on one of my Pixhawk equipped rovers.Since the sonars were from an APM equipped rover they already had single pair shielded cables…Continue

Tags: install, Pixhawk, dual, sonar

Connecting non-3DR GPS

Started by Joe Dvorak. Last reply by Matthew Reimer on Friday. 16 Replies

I have a Pixhawk system with all the standard 3DR peripherals (telemetry radio, GPS). I need to replace the 3DR GPS with another GPS unit so that I can conduct some tests with higher accuracy. I have…Continue

Tags: APM:Rover, GPS

Contributing to giving sight to AV's

Started by RoboBill. Last reply by Gary McCray May 21. 64 Replies

Hello everyone,I'm trying to design and build an "open source" radar system. The premise is that while we have the hacked Neato and the RoboPeak system, I've not found anything for outdoor use. So…Continue

Comment Wall


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Comment by Andrew Tridgell on June 9, 2013 at 3:40pm

Huge congratulations to Tom Coyle for winning the Sparkfun mid-size Rover category at Sparkfun AVC on the weekend! Tom has put a massive amount of effort into testing the APM Rover code, and it really paid off for him. I haven't yet found a video of his run, but from what I've heard his rover managed to get through the barrells, through the hoop and over the ramp to produce a winning score.

Hopefully when Tom is back home (it's a long drive!) he will write up the full story.

Cheers, Tridge

Comment by Mike Wilson on June 7, 2013 at 6:37am

Thanks for the info. I'll upload the latest firmware and give it a try.


Comment by Andrew Tridgell on June 7, 2013 at 12:53am


I forgot to mention that there is a simple workaround for the bug. Just change the value to something else first - for example, change it to 0.1, write the parameter change, then change it to 0.0. It will then work.

Cheers, Tridge

Comment by Andrew Tridgell on June 7, 2013 at 12:26am


It's a bug which I fixed a few days ago. I plan on releasing a new rover version soon with the fix, but meanwhile you could load the 'latest' version from and that has the fix.

Cheers, Tridge

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.)



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