APMRover 2, a fun UGV project for full autonomous recon missions...
[UPDATE: This project is now being ported to a proper Google Code repository and manual. For instructions, start there. You can also join the ArduRover User Group here.]
Hello to ALL, the new firmware for APMRover v2 has been tested successfully on my rover on may 1st, 2012 on full autonomous reco mission following a navigation plan. This new release of the APMRover v2 works on the APM v1.4 with the OilPan shield (magnetometer + MT3329 GPS) and also of course on the APM v2. The previous version of the APMRover v1.0 was a light size version specially designed for the APM1280 CPU (only) board and the MT3329 GPS.
For the frame, I have used a Traxxas Monster Jam Grinder with a brushed and high power motor Titan 12T and its XL-5 ESC.
The APMrover UGV is able to run itself following a list of recorded waypoints. The waypoints list (FPL) can be preloaded with the APM Mission Planner OR better in live, recorded by the pilot himself (with the SW7) during a manual run and then replayed in a full autonomous mission.
The firmware APMrover2 for APM v1 + OilPan or APM v2 successfully tested can be downloaded HERE
The APMrover v2 is also online on the official ArduPilot-Mega GIT repository HERE
Below the PID setup for the APMrover v1 and v2:
The light firmware APMrover1 for APM v1 (CPU 1280 or 2560) that I have tested can be downloaded HERE
Here's how to connect your cables:
More infos at: http://diydrones.com/profile/JeanLouisNaudin
Have Fun and Enjoy with the APMrover...
Regards, Jean-Louis
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Developer Comment by Jean-Louis Naudin on May 14, 2012 at 9:57am -
Hello Robert,
Could you please, do a compilation test with the library included in the zip at:
http://ardupilotdev.googlecode.com/files/APMrover21_firwmare.zip
Regards, Jean-Louis
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Comment by Chapelat Daniel on May 14, 2012 at 10:06am -
hello jean Louis
The answer you gave to Franco'm told that my problems comes to help the sonar may be that I had plugged
I do not know if I have time to test because I am hospitalized three days tomorrow.
Friday will be all these problems can be resolved ..
Best regards and thank you again
Daniel
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Developer Comment by R_Lefebvre on May 14, 2012 at 10:25am -
JL, yes, I tried that, and that works. There seems to be some issue between APM Trunk, and your code. I'm not sure what it is.
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Developer Comment by R_Lefebvre on May 14, 2012 at 10:29am -
I'm trying to see if I can figure it out. I'm not sure where the divergence is.
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Developer Comment by R_Lefebvre on May 14, 2012 at 10:46am -
I just tested back to your original push to APM Trunk on April 30th, the problem exists there too. Something to do with MAVlink, your libraries must have diverged from trunk.
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Comment by Franco Borasio on May 14, 2012 at 11:16am -
Jean-Louis,
if you can write the upgrade part of the sonar software, and tell me the variables I can change with arduino, the test I will make for you. No problems!!! important is that I know where you wrote the code just for understand what and where I can Change!!!!
Regards
Franco
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Developer Comment by Jean-Louis Naudin on May 14, 2012 at 11:35am -
Hello Robert,
You may try the latest version of APMrover v2.1.4 just pushed to the GIT official trunk. It is now compatible with the latest version of mavlink library. Compilation is OK for me...
Regards, Jean-Louis
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Developer Comment by Jean-Louis Naudin on May 14, 2012 at 11:39am -
@Franco: OK thanks for your contribution about the sonar testing... Stay tuned.
Regards, Jean-Louis
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Developer Comment by Jean-Louis Naudin on May 14, 2012 at 12:13pm -
Hello Robert,
You may also upload the full version (with the latest version of the library from the GIT) of the APMrover v2.1.4 now compatible with the new mavlink lib at:
http://ardupilotdev.googlecode.com/files/APMrover214_new_mavlink.zip
I have tested successfully this version 2.1.4 with the APM mission planner v1.1.85
Regards, Jean-Louis
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Developer Comment by R_Lefebvre on May 14, 2012 at 12:26pm -
OK JL, so far that is working for me. I have just pushed these minor changes to trunk. These were requested from Michael to create a new MP environment for us.
Please see changes here:
http://code.google.com/p/ardupilot-mega/source/detail?r=a6fe5efefe9...
I haven't tested this on hardware yet, but it compiles. I'm only concerned that it may temporarily break the connection to Mission Planner until Michael can make his changes. Hopefully that will happen quick. I also changed the name of flight mode 2 from "stabilize" to "learning". This makes more sense to me.
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