Developer Comment by R_Lefebvre on May 2, 2012 at 10:34am

With a wide open space, I don't see why not? Ardupilot can fly airplanes at 100mph, why not a car?  Have to watch the vibrations though.

Comment by John Hanson on May 2, 2012 at 2:59pm

JLN - you do some amazing stuff!  I am always astounded at your projects.   I really like the rover, but it makes me wonder about the power of the apm not being fully used.  How hard is it to get the code to run a 2 wheel balancing robot rover?

Developer Comment by Jean-Louis Naudin on May 2, 2012 at 10:22pm

Hello John,

Initialy I have build the APMrover project so as it use a minimum of material (APM1280 cpu only + GPS MT3329). This is a low cost and fun design for exploring with UGV project for students, hobbists and science fair projects...

Some people have asked me to push forward the APMrover project for using the full APM v1 (IMU shield OilPan + GPS + magnetometer) and/or with the APM v2... This wasn't my initial purpose (low cost and fun) as explained above... So, I have pushed the APMrover firmware code so as to be compatible to a full IMU design with magnetometer. To answer to your question, YES, of course, the APM v2 or v1 (with OilPan IMU) is fully able to handle a 2 wheels balancing robot. As you may see in the DIYdrones web site, the APM v2 or v1 is able to stabilize very well multicopters, so for a simple two wheels balancing robot rover, this is not a real problem, here...

Regards, jean-Louis

Comment by robert bouwens on May 2, 2012 at 10:47pm

there is no need to have full apmX support.

a gps is the only device needed.

if the rover is not stable, then mems devices will also be of no help :)

 

a balancing robot will be something different because of the requirements.

but the path following code must be better.

this would apply for types of vehicles.

Comment by Grips on May 3, 2012 at 4:21am

Any idea how many waypoints could be stored on the apm 1.4? (most basic option to use.)

Developer Comment by R_Lefebvre on May 3, 2012 at 6:18am

JL, is it possible to make a #define between the "lite" version of ArduRover and the full version? That would probably be a good way to go.

Some people might like the "lite" version, some might like the full version (me).

As for cost, I don't see how it's a huge problem.  And APM1 is $70, plus GPS is $40?  So $110 total.  APM2 is $200.  The difference between full and lite isn't that high.

For anybody looking to start from square one and build a rover, I might suggest this is a great chassis to use.  Darn near unstoppable, and not very expensive.  Also easy to convert to 4 wheel steering which would help.

http://www.nitrorcx.com/03c09-madtorque-blue.html

Comment by Veikko Vierola on May 3, 2012 at 7:40am

Hi, what is the song on the video, it is in finnish language :)

Moderator Comment by Brian on May 3, 2012 at 8:33pm

This is great, I've been wondering what I could do with my APM (don't have and oilpan) and I've always wanted to do a rover... Very cool!  Thanks!

Developer Comment by Jean-Louis Naudin on May 3, 2012 at 10:12pm

Hello to all,

I have tested successfully my latest version of the APMrover v2.0b firmware with a full kit of ArduPilot Mega 2560 (v1.4) + IMU shield (Oipan) + GPS MT3329 + magnetmoter HMC5883L.

The previous ArduPilot Mega 1280 CPU board has been replaced by the APM2560. See some photos below:

The full code of the APMrover v2.0b firmware can be downloaded at:

http://ardupilotdev.googlecode.com/files/APMrover2_firmware.zip

and to my GIT repository at:

http://code.google.com/r/jlnaudin-area51/source/browse/#git%2FAPMro...

Enjoy with the APMrover  ;-)

Regards, Jean-Louis

 

Developer Comment by Jean-Louis Naudin on May 3, 2012 at 10:16pm

Hello Robert, I soon shall add the

#define LITE ENABLE

to the next release APMrover v2.0c so as the firwmare can be used with the CPU IMUless version (1280 or 2560).

Stay tuned,

Regards, Jean-Louis

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