The ardupilot development team is proud to announce the release of version 2.47 of APM:Rover. This is a minor bug fix release. The most important change in this release is the fixing of the skid steering support but there have been a number of fixes in other areas as well.

Full changes list for this release:

  • add support for controlling safety switch on Pixhawk from ground station
  • prevent reports of failed AHRS during initialisation
  • fixed skid steering that was broken in the last release
  • report gyro unhealthy if gyro calibration failed
  • fixed dual sonar support in CLI sonar test
  • fixed Nuttx crash on Pixhawk with bad I2C cables
  • added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
  • added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
  • added RELAY_DEFAULT parameter to control default of relay on startup
  • fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
  • better handling of compass errors in the EKF (Extended Kalman Filter)
  • improved support for linux based autopilots
  • added support for PulsedLight LIDAR as a range finder

Many thanks to everyone who contributed to this release, especially
Tom Coyle and Linus Penzlien for their excellent testing and feedback.

P.S. Hi all - I am helping Tridge with Rover development and this is my first release announcement.

Happy driving!

Views: 1185

Comment by Andrew Tridgell on November 14, 2014 at 9:04pm

Thanks Grant!

Comment by healthyfatboy on November 14, 2014 at 9:30pm

I just got my LIDARLite in yesterday from PulsedLight and did a quick test of it on the Arduino and have to say it's quite amazing! It'll be perfect for using on a rover and it's great there is support for it in the code now. Congratulations!

Comment by Thomas J Coyle III on November 15, 2014 at 2:40am

Hi Grant,

Welcome aboard the ArduRover2 Team.

A most impressive list of fixes and improvements!


TCIII Autonomous Vehicle Developer

Comment by Thomas J Coyle III on November 15, 2014 at 2:43am


I just received my LIDAR-Lite also and recently tested it on an Arduino Duemilanove and it works most impressively. Next will be to incorporate it on a rover, however the beam is so narrow that it will require a servo to sweep the module across the path of the rover.



Comment by F. C. Bearsch on November 15, 2014 at 5:11am
That answered my question Great job Grant!
Comment by F. C. Bearsch on November 15, 2014 at 5:26am
Gaging interest, for an add module for the integration of WiFi radio and controller inside MP. Currently I am using it as a unified transport eliminating rc, vtx etc. Thinking of integrating a WiFi scan for interference indicator along with the signal strength. If there is interest I will format it and to it can be incorporated back.. Thanks

Comment by healthyfatboy on November 15, 2014 at 7:13am


Yes, it is quite impressive and the 3 degree beamwidth is nice. It could tell the difference in distance of the empty shelves on our TV stand and the stand itself from 3 meters away. It's quite the nice sensor at a very affordable cost. I thought about giving it a try with a robotics project over the winter. I don't have any 3DR gear at the moment as I just don't have the time to tune it all with 4 little kids but I'm saving this sensor for when I have a little more time in the future. Might as well sell of what I had when I could get something for it. When I get back into things, the hardware will be even better. Lucky for me, I get to play with this stuff at work so I still get my fix!

Comment by Linus on December 3, 2014 at 6:56am

sorry guys, I was a little absent and look forward to future adventures with the rover and you!

Comment by Grant Morphett on December 3, 2014 at 12:54pm

Hi everyone. I too am trying to finish up some work but from 15 December there is going to be MAD amounts of APMing :-)  I've got so many things to try and get up and running - we are going to have a great time!


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