Developer Comment by Jean-Louis Naudin on April 26, 2012 at 11:52pm

Here, below the PID setup that I am using with the APMrover v1.0d:

Regards, Jean-Louis

Developer Comment by Jean-Louis Naudin on April 27, 2012 at 2:41am

Hello, for your informations, you may test yourself the APMrover v1.0e firmware with AeroSIM-RC v3.83 in HIL simulation by using the Cessna 182 model... The plane does'nt takeoff and it is only driven with its nose wheel as a rover... you need only to select good setup in the APMconfig.h config file:

#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
//#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder

Regards, Jean-Louis

Comment by Michal Rusina on April 27, 2012 at 11:00am

hi. this is great! what about differential drive (two escs for left and right wheels)?

Developer Comment by R_Lefebvre on April 27, 2012 at 11:34am

I was wondering the same thing.  That will probably require more work.

Developer Comment by Jean-Louis Naudin on April 28, 2012 at 6:39am

Hello Michael and Robert,

Implementing differential drives  (two motors with two ESC) with the APMrover is not a real problem here, this is equivalent to use an ailerons mixer in the arduplane... I need only to buy a tank for testing the feature ;-)

May be, you may test it yourself if I add this new feature in a new release of the APMrover...

Regards, Jean-Louis

Comment by Scott Thompson on April 28, 2012 at 8:15am

This is great; I've been working on rover code and implementing a version of MAVlink and qGroundControl but it looks like some of the work has been done already.  My code runs on a PIC32MX, though, and uses FreeRTOS to coordinate many of the tasks.

Here's a little video that shows the features of the rover.  I'm looking forward to learning more about your base--especially the shocks.  Looks like you have a higher ground clearance.  Do you use four separate motors?

Comment by healthyfatboy on April 28, 2012 at 9:19am

His is just a basic r/c truck but converted to a UGV by adding the APM. It only has one motor and a gearbox as most r/c trucks do and doesn't have four separate motors.

Once I get my APM1 in, I'll be sticking mine on an old Rustler and will have a chance to mess around with it as well. I'm really excited about it.

Comment by Scott Thompson on April 28, 2012 at 9:33am

Okay, it looked like an R/C car type of chassis.  I will have to stick to the PIC32 instead of going with the Arduino (although the ATMega is used as the slave MCU for driving the scrolling-text display), as there are significant resources being used.  Will have to peek at how the MAVlink protocol was migrated to the GCS, though.  I'm just now exploring this option, although I have the DIYDrones MediaTek GPS installed with the v1.6 firmware (have to write/port the drivers to the PIC32 for the GPS).

This boy has PID control on each wheel with quadrature encoders being the feedback measurement device.

Very interested to read more.  Will research "Rustler" and see if that platform would be suitable for my 15# monster.  I have to also install the FPV camera and transmitter gear, which will get piped into RoboRealm or OpenCV which will then get piped through the GCS that I ultimately choose.  That way, the computer can utilize blob detection for obstacle avoidance (or for gunning down a stray squirrel :) but will also allow the computer to take over control with GPS waypoints, etc.).

Good luck with the project!

Comment by Scott Thompson on April 28, 2012 at 12:58pm

I take back my comment about having to stick with the PIC32 here.  I think the Arduino could handle the PID control for each wheel and handle the other tasks such as radio input and servo output.  May have to switch it to integer math, though.  Will have to maintain a second Arduino for the scrolling-text display, though.  My point is that the Arduino should handle the Rover Drone implementation just fine, albeit for me with significant code changes (RTOS versus not for example).

Developer Comment by Jean-Louis Naudin on April 28, 2012 at 1:21pm

Here below some additional photos about the frame used for my APMrover, you see the brushed motor and the ESC.

Regards, Jean-Louis

Comment

• ‹ Previous
• 1
• 2
• 3
• 4
• 5
• 6
• …
• 78
• Next ›
• Page