[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
Comments
I am getting a whole bunch of errors when I try to compile. Using Arduino IDE 1.0 Anybody have any ideas? I am not sure about the libraries, I moved the library folder into the program folder, didn't help.
over10c.cpp:72:63: error: AP_PeriodicProcess.h: No such file or directory APMrover10c.cpp:73:67: error: AP_Compass.h: No such file or directory APMrover10c.cpp:75:76: error: AP_InertialSensor.h: No such file or directory APMrover10c.cpp:76:58: error: AP_IMU.h: No such file or directory APMrover10c.cpp:77:59: error: AP_AHRS.h: No such file or directory APMrover10c.cpp:78:43: error: PID.h: No such file or directory APMrover10c.cpp:79:50: error: RC_Channel.h: No such file or directory APMrover10c.cpp:80:52: error: AP_RangeFinder.h: No such file or directory APMrover10c.cpp:81:40: error: Filter.h: No such file or directory APMrover10c.cpp:82:60: error: ModeFilter.h: No such file or directory APMrover10c.cpp:83:62: error: AverageFilter.h: No such file or directory APMrover10c.cpp:84:41: error: AP_Relay.h: No suc
Is there any description of the radio setup somewhere? I've got a crawler just dying to try this out...
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.
Can we get this added to APM Trunk as a new folder for Rovers?
Congrats. This is good.
Nice attempt JLN ! For a autonomous Rover, Magnetometer is MUST.
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
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
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?
-
32
-
33
-
34
-
35
-
36
of 36 Next