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Hello everyone,

I'm part of a group at Wright State University making an autonomous mower based on the Ardurover platform.  We are using a APM 2.5, Sabertooth 2x60 speed controller, 3DR Radio (900 MHz), uBlox GPS, Spektrum AR6255 Receiver, and Spektrum DX6i radio.

All cables are hooked from the receiver to the APM inputs and the steering and throttle outputs are hooked to from the APM to the speed controller.

The controllers are used as follows:

(Radio Control = Function = Pin on APM)

Elevators = Throttle = Input 1

Ailerons = Steering = Input 3

Throttle = 3 Way Switch = Input 8

Rudder = Momentary Switch = Input 7

Flap/Gyro = Not Used

Gear/F Mode = Not Used

The outputs from the APM are connected as follows:

Output 1 to Speed Controller S2 = Steering

Output 3 to Speed Controller S1 = Throttle

I'm been following the instructions to setting up APM for Ardurover in the Ardurover manual.  However, I am encountering a wide variety of problem.  I am using MP 1.2.49 mav 1.0 and have uploaded the ArduRover v2.41 AR2 firmware to my APM using MP.  First, when I do a soft reset it works fine, but upon pressing the reset button to do a hard reset afterwards I get the following error.

"*NOTE* CLI Works only on first connect of power, log download only over USB
Opened com port


Init Ardu?ArduRover v2.41]
ArduRover v2.41]
ArduRover v2.41]
ArduRover v2.41] ?
Commands:
  logs
  setup
  test
  reboot
  help
ArduRover v2.41] setup
Setup Mode

IMPORTANT: if you have not previously set this system up, use the
'reset' command to initialize the EEPROM to sensible default values
and then the 'radio' command to configure for your radio.

setup] reset

Type 'Y' and hit Enter to perform factory reset, any other key to abort:
FACTORY RESET complete - please reset APM to continue

Init ArduRover v2.41

Free RAM: 3856
Firmware change: erasing EEPROM...
d?
-`'?
Press ENTER 3 times to start interactive setup

3<startup_ground> GROUND STARTP?3Demo Servos!
///`'[?3Warming up ADC...Beginning INS calibration; do no3Demo Servos!C?
///`'h/3
Demo Servos!?
A///`'9"3
Beginning INS calibration; do not move vehicleFai`?3Initialising APM...
\///`'P]
///`'
Failed to boot MPU6000 5 times
Failed to boot MPU6000 5 times

Qx///`'N?Failed to boot MPU6000 5 times
Failed to boot MPU6000 5 times

<v///`'?Failed to boot MPU6000 5 times
Failed to boot MPU6000 5 times

///`'}Failed to boot MPU6000 5 times
PANIC: failed to boot MPU6000 5 times"

If I try to calibrate the radio using the configuration tab in Mission Planner, none of the bars change color when I press any of the controls on my radio.  Farther, when I try to enable sonar, I get an error saying it has failed to be enabled.  Basically, it seems like everything errors out even though MP says it is connected to APM.

The radio is bound to the receiver.  This has been confirmed many times.  Strangely, when I power on all controls of the vehicles, APM is passing all my radio commands through to the speed controller so I can drive and steer the vehicle manually.  So it is receiving the R/C signals, but MP isn't recognizing this.

Can anyone please give me any suggestions on how to proceed?  If you need more information from me please just ask and I'll provide you with all the details I can.