ArduRover User Group

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

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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

Help with Pixhawk and TRex dual motor controller

Started by Steven Cohen. Last reply by Grant Morphett 2 hours ago. 12 Replies

I'm a technology instructor at a new Applied Tech HS setting up a long term rover project and working out the kinks over the summer. I will ultimately be using the Dagu wild thumper and a sabretooth…Continue

Apm Rover in tractor setup.

Started by Matthew Reimer. Last reply by Philip 7 hours ago. 144 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

RoverWarning _No Brakes! A throttle nudge story.

Started by dr0n3droid. Last reply by dr0n3droid 10 hours ago. 6 Replies

While testing my rover recently, I had one of the most counterintuitive experiences in my decade long rc career with catastrophic results.In AUTO, I was tweaking cruise speed while running a looped…Continue

Rover Hold/Delay At Waypoint

Started by tjfhlv. Last reply by Grant Morphett on Friday. 12 Replies

I'm currently testing a rover setup that I need to have go to a waypoint, hold position at that waypoint for a period of time, then simply continue on it's mission. I have looked through this group,…Continue

Comment Wall


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Comment by healthyfatboy on June 30, 2013 at 7:49pm

Quick question. Is this the sonar sensor you guys are using?

Comment by Thomas J Coyle III on June 24, 2013 at 9:36am

Hi All,

Tridge and I have made exceptional progress this last weekend with validation of the L1 version of the ArduRover2 code. There are three critical tuning parameters in the L1 code: NAVL1_PERIOD, TURNING_CIRCLE and TURN_MAX_G.

I measured the turning radius of my Slash rover and found it to be 1.3m. We started testing with the NAVL1_PERIOD at 8 and the TURN_MAX_G at 4. With the NAVL1_PERIOD at 8 there was not enough turn authority and I ended up with the value of that parameter at between 3 - 4. At 3 the rover negotiated tight turns (chicanes) very well, but tended to hunt on the straightaways. At 4 there was no straightaway hunting, but the tight turn navigation was not optimal. I also upped the TURN_MAX_G value to 10 and left it there for the remainder of the testing.

I suspect that the L1 code can be modified to be able to negotiate tight turns, but not hunt on the straightaways. I think that we are very close to being able to release a beta version of the code in the next few weeks.

I also liked the fact that the L1 code made nice sweeping turns around corners compared to the Non-L1 code which tended to turn in short segments around a curve.

More to come.



Comment by Lake McGuire on June 20, 2013 at 1:38pm

TCIII and Tridge,


In the current code, is there a way to make a rover turn more sharply when navigating waypoints?

Comment by Thomas J Coyle III on June 20, 2013 at 1:24pm

L1 testing update;

So far it looks like there still needs to be some improvement in the L1's ability to maneuver through chicanes. In my most recent test the L1 code was not turning sharply enough compared to the non-L1 code. This caused the L1 code to actually make a loop at one of the chicane waypoints to get back on course. As for straight line performance, the L1 code and non-L1 code are neck and neck.

If I had to choose between the two right now, I would have to go with the non-L1 code. Though I am sure that Tridge and I will work the bugs out of the quick turning (chicane) issue during this week's code hacking hangout and next week's test track testing.



Comment by Thomas J Coyle III on June 18, 2013 at 1:39pm

Hi All,

I want to let you all know that Tridge and I are working on incorporating the L1 navigation code into the ArduRover2 firmware. I presently have an alpha copy of the L1 code and plan to test it this week and help Tridge iterate the code to a working beta level that members will be able to test out on their own rovers.

The L1 code is superior to the existing code in that there are quite a few fewer parameters to have to tune to obtain stable rover navigation.

Also, I am working on Tridge's AruRover2 version of the PX4FMU code and plan to run it on a 1/16 Rally chassis that I have recently put together. I would like to run the Rally chassis in the AVC micro class, but Sparkfun will have to increase the qualifying length of the micro class to 12 inches which is only 2 inches more than the original 10 inches. Most quality 1/16 R/C chassis are around 12 inches anyway.:-)



Comment by Thomas J Coyle III on June 12, 2013 at 6:11am

Hi All,

I have finally arrived back in Ft. Lauderdale from the Sparkfun AVC in Boulder. Fortunately for me the weather was just some occasional moderate rain and a few brief down pours on the way back home.

The following is a brief overview of our team's performance in the vehicle portion of the AVC:

Our waypoints were spot on except for the waypoints between corners 2 and 3 where the hoop was located.

Our waypoints were about 1 m inside the actual course and had there been time to run a practice loop, I would have been able to correct those waypoints before the start of the heats.

So for the first heat the rover turned too soon at the 2nd corner and ran inside the hay bales that marked the end of the parking lot course. Had the rover not run into the hay bale at the 3rd corner and made the turn, we would have made a complete lap, though we would have been penalized for running inside the hay bales between the 2nd and 3rd corners:-)

So I corrected the waypoints between corners 2 and 3 during the stand-down between the heats and completed a successful practice run before the start of the 2nd heat. Since I could not see if the rover cleared the hoop, but did clear the ramp, I did not make any additional corrections in the waypoints between corners 2 and 3.

At the start of the 2nd heat our rover ran straight and true towards the first turn, but was unexpectedly hit by a yellow wayward bug rover that was moving diagonally across the course towards the left side hay bales. The bug hit the right front wheel of our rover, bounced over our rover and hit the hay bales. Our rover took the hit in stride, corrected its course, proceeded towards the first corner, and was the first rover to finish the course during the 2nd heat. We missed the hoop, but cleared the ramp which gave us about 364 points.

On the 3rd heat I forgot to turn the ESC on so at the start of the race the rover did not move until I realized the ESC was off. I think that we only lost a few seconds at the start and we made up for the late start with a higher cruise speed of 5 m/s instead of the 3 m/s I had initially been running at. I believe that we were either the first or second rover to cross the finish line during the 3rd heat.

We scored 50 points on the first heat, 364 on the 2nd heat and 368 on the 3rd heat. I increased the speed of the rover on the 3rd heat so we scored more points for being faster over the course.

In the end we racked up 782 points to take first place in the Peleton class. Our nearest competitor had 759 points.

I have saved the tlogs and plan to go over them when I get back to Ft. Lauderdale.

Next time I plan to bring my ArduStation Mega to attempt to verify the obstacle "real" GPS coordinates in relation to the "published" coordinates so that I can make some real time corrections to the course waypoints if necessary.



Comment by Lake McGuire on June 11, 2013 at 10:28pm

Ok, I have 3 issues that I hope you all can help me with.  I'm running an APM 2.5 with a Sabertooth 2x12 R/C for skid steer.  Everything seems to work right when I'm in R/C manual mode.  I have it set up with Aileron for turning and Elevator for forward and reverse.


When I move to Auto mode to go toward a waypoint, I have 3 things that happen:

  1. The rover, which has 4 motors, one on each wheel, begins to shake left and right while making forward progress....  It goes really slow, it's like left side, then right side, etc...
  2. For some reason, it also believes the front is the back and vice versa, so it heads in the complete opposite direction as if the waypoint was 180 degrees from where it's supposed to be.
  3. I also notice that when it finally decides that it's at a waypoint to turn, it only uses one bank, left or right side, to turn.  It would be much more efficient and more importantly, I need it to use both simultaneously.  For example, to turn left, reverse the left side and forward on the right side.

Many thanks in advance!

Comment by Thomas J Coyle III on June 10, 2013 at 5:59pm


Yes, it was fun and the 3DR crew along with the other DIY Drones members who were in attendance are a great group to hang out with!

Though it seemed that everytime I thought I had the course waypoints nailed down, I found myself making minor adjustments that improved my rovers performance in subsequent heats.



Comment by Bot Thoughts on June 10, 2013 at 9:49am

@Tom - me too, hopefully next time. I keep meaning to be able to head to Dark Horse after these things and somehow always get thwarted. :D  Anyway once again Congrats on an awesome achievement, Tom!

Comment by KM6VV on June 10, 2013 at 9:47am

Sounds like you guys had fun!

Alan  KM6VV


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