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

Views: 69225

Tags: ARDUPILOT, AUTOPILOT, DRONE, UAS, UAV, UGV


Developer
Comment by Rob_Lefebvre on April 25, 2012 at 10:49am

Very cool.  Does this allow tuning of parameters (ie: PIDS's) via MP?  Does the telemetry work?  Will it work on an APM2, or with an APM1 oilpan installed if we want?  Compass?


Developer
Comment by Jean-Louis Naudin on April 25, 2012 at 12:51pm

Hello,

The APMrover v1.0 firmware is fully compatible with the APM mission planner and you must set the PIDs as an ArduPlane. This is a light size version of the ArduPlane firmware with some changes so as to be compatible for a ground vehicle. It works of course with the APM v1 and APM v2 and with also the OilPan installed. No compass here is needed,

Regards, Jean-Louis


Developer
Comment by Jean-Louis Naudin on April 25, 2012 at 1:00pm

Below the APMrover PIDs tested in the video:

In the yellow rectangle, there a some news parameters for the APMrover:

ROV_AWPR_NAV: if set to 1 its allow the automatic Wp radius calculation relative to the ground speed.

ROV_GAIN: need to be set to about 5 so as to increase the gain of the wheels servo.

ROV_CL_NAV: if set to 1, allows a closed loop navigation,

Regards, Jean-Louis

Comment by Rana on April 25, 2012 at 1:03pm

Nice attempt JLN ! For a autonomous Rover, Magnetometer is MUST.

Comment by John Hestness on April 25, 2012 at 1:16pm
This is great! I will be trying it tonight when I get home. Is there any connection between your code and the rover code that was already here? Have you tried that code? My rover is very similar to yours, just a slash chassis instead. Do you have any further plans for this?
Comment by Randy Ram on April 25, 2012 at 3:23pm

Congrats. This is good.


Developer
Comment by Rob_Lefebvre on April 25, 2012 at 4:17pm

Can we get this added to APM Trunk as a new folder for Rovers?


Developer
Comment by Rob_Lefebvre on April 25, 2012 at 4:19pm

Looks like ArduRover already exists, can we just blast it, or make ArduRover2 folder in trunk?  At least until a decision can be made to get rid of the old ArduRover code.

Comment by Anis Nielsen on April 25, 2012 at 4:45pm

Mighty cool Jean Luc, excellentissimo, Bravo! ;

I've been following your thousands of experiments and videos for at least 10years, you are phenomenal, really, and thank you very much again for sharing .. again :)


Developer
Comment by Rob_Lefebvre on April 25, 2012 at 4:47pm

Is there any description of the radio setup somewhere?  I've got a crawler just dying to try this out...

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