Comment by Steven Kibler on May 26, 2012 at 8:18pm

I am having difficulty getting the arduRover working, and I'm hoping that someone can point me in the right direction. I'm using and ArduPilotMega 1.4 with ArduRover2.0b firmware, and APM mission planner 1.1.88.  I've got a Traxxis Monster with the identical setup to JL.  I do not have a magnetometer, but disabled it in the APM_Config_Rover.h file.  I've got the parameters set exactly as JL shows in his pictures.  

In manual mode, the truck operates perfectly, suggesting the connections to the APM are correct. In autonomous mode, though, the truck snakes so badly it makes no progress toward any waypoints and looks to be moving randomly rather than guided.   At times it merely turns in circles.  The GPS is working correctly because the mission planner shows the robot's correct location and heading.  The robot just does not seem to use that GPS information to correct its course, or perhaps it is over-correcting all the time.  I am assuming that it is a problem with the parameters but am not sure.  I've played with all the standard values and nothing seems to change the results.  Has anyone experienced this yet?  If so, can I get some direction as to how to proceed?  

Thanks!

Steven

Developer Comment by Jean-Louis Naudin on May 26, 2012 at 10:21pm

Hello Steven,

The latest version of the firmware APM rover is the v2.1.3b, this the stable version. This version works very well and it has been tested successfully on various models of truck. I recommend you to use it on your rover and compile it with the attached library.

You will find it at: http://ardupilotdev.googlecode.com/files/APMrover213_firwmare.zip

Here a video of the APMrover v2.1.3b in action:

Good testing. Regards, Jean-Louis

3D Robotics Comment by Chris Anderson on May 28, 2012 at 9:33am

Jean-Louis: I'm a little confused by the wiring hookup. In the picture above, you appear to assign Throttle to CH 2 Input, but throttle is still on CH 3 Output. Is that right?  Here's a simplified version of what your picture seems to suggest:

Is this right? If so, I don't understand how it works in manual mode with the direct pass through: how can Input 2 (which you have assigned to throttle) pass through to Output 3 (ESC)?

Developer Comment by Jean-Louis Naudin on May 28, 2012 at 9:55am

Hello Chris,

Yes this is TRUE, the ESC for the motor is connected on the CH3 ouput of the APM and the wheel servo is connected to the CH1 output for the steering.

The throttle is steered by the PITCH stick of the transmitter because the neutral is centered with a spring, so this allow to go forward and backward direction with the rover.

In the diagram, you have forgoten to connect the CH7 of the receiver.

Below, the photo of my working setup of the APMrover

Regards, Jean-Louis

Developer Comment by Jean-Louis Naudin on May 28, 2012 at 10:00am

Below some photo of the APMrover v2.1.3b tested with the telemetry kit.

I have tested successfully and really enjoyed to play with the "click and go" (GUIDED mode) with the mission planner...

The AUTO and RTL works also very well and of course the "LEARNING" mode...

Regards,

Jean-Louis

3D Robotics Comment by Chris Anderson on May 28, 2012 at 10:01am

Ah! So what is the Throttle stick used for?

Developer Comment by Jean-Louis Naudin on May 28, 2012 at 10:08am

I am piloting in MODE 2, (left stick: Throttle + Yaw and right stick: Roll + Pitch) for the APMrover the left stick is not used... You need only to use the right stick:

ROLL: to steer the wheels,

PITCH: to go forward and backward (neutral = 0 throttle)

Regards, Jean-Louis

Developer Comment by R_Lefebvre on May 28, 2012 at 10:10am

Chris, the channel selection also tripped me up when I first tried it.

The throttle stick isn't used for anything right now.  But I think it would be great for pan/tilt on a camera.  That way you can set the tilt to whatever is appropriate for the terrain or mission, and the tilt will hold in location.

3D Robotics Comment by Chris Anderson on May 28, 2012 at 10:19am

Okay, here's an even more simplified version, for a 6-Ch RC set. Correct?

Developer Comment by Jean-Louis Naudin on May 28, 2012 at 11:12am

Hello Chris,

YES, this is the good wiring diagram for the APMrover setup. I agree with Robert, the left stick can be used to steer a camera.

Regards, Jean-Louis

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