[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:

Have Fun and Enjoy with the APMrover...

Regards, Jean-Louis

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  • hello   , I have test APM-ROVER2.42 CODE in a tank ,set SKID_STEER_IN=0;SKID_STEER_OUT=1;  The throttle control is correct , but direction control only one side , which wrong ,can some one tell  ,thanks very much

  • thanks for the tip!

  • Admin


    You might be better off posting your requirements on the ArduRover User Group Comment Wall as hardly anyone reads this discussion anymore. Also there is a group of boat using members on the ArduRover User Group that you might want to collaborate with to meet your requirements.



  • Hi guys! 

    I am interested in using ArduRover for a boat project, the boat uses port and starboard motors and no rudder. Can ArduRover be used for this? 

    I think re-coding the AP and PC interface for my project is beyond my capabilities. I wonder if any of the experts would be interested in a paid project? I think I want;

    slimmed down PC interface 

    renaming of camera controls on the waypoint editor for a different purpose

    loitering enabled (I think that has been removed for rover?)

    timing for loitering, timing for shutter release etc

    please send me a message or post here if interested, thanks!


  • Thanks for the quick reply. I will try your suggested versions tomorrow. I will also go to the ArduRover User Group from now on.

  • Admin


    Note: Hardly anyone reads this discussion anymore.

    MP 1.2.30 will  work with pre-HAL ArduRover2 v2.30.

    I think that MP 1.2.30 and up will work with post-HAL ArduRover2 v2.30

    I am presently not using  pre or post HAL ArduRover2 v2.30 because the IR sensor function appears to be broken. Either it detects an obstacle, but doe not correct the course or it does not detect the obstacle at all.

    MP 1.2.29 or below will work with pre-HAL ArduRover v2.30 and ArduRover2 v2.20b.

    I am using 1.2.13 with ArduRover2 v2.20b.

    From now on I am saving each MP msi version so I can fall back to a stable version that works with the ArduRover2 code.



  • My Arducopter has been grounded while waiting for spares so I thought I would give the Rover a try. After a couple of hours getting nowhere I started reading this blog, starting at the end. Thomas says "the learning mode is broken in the latest code" so I wondered if there was any point going further.

    Is there a working version and if so which version of mission planner is compatible? Also what version of mediatek firmware would it require as mine is at v1.9 at the moment. Hardware APM v1.4 2560, compass and Mediatek GPS.

  • Admin


    The red wire in the ESC cable is the power connection from the BEC built into the ESC. The red wire supplies +5vdc to the APM. The white or orange wire is the control signal from the APM to the ESC.

    Not many people read this discussion so I suggest that you post your questions on the Comment Wall in the ArduRover User Group.



  • The guide tells to connect an ESC/w BEC connection to APM, but I could not find any connection labelled as such on my RC car's circuit. Any help would be appreciated.

    Or, is there any specific model of RC car for this APM 2.5. 

    kind regards


  • @ TClll & Roo,

    Thanks.  My major malfunction was that I didn't have waypoints  loaded into the AMP.  I've now run a couple of missions with resonable sucsess.

    Still go a couple of questions:

    1.   Is there a way to search this forum other than reading each and every page?  I know there is some info on how to tweek the speed and aceleration, but I can't fine it.

    2.   Does the Telemetry Log work in Ardurover V2 ?   

This reply was deleted.