[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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  • Mighty cool Jean Luc, excellentissimo, Bravo! ;

    I've been following your thousands of experiments and videos for at least 10years, you are phenomenal, really, and thank you very much again for sharing .. again :)

  • 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.

  • This is great! I will be trying it tonight when I get home. Is there any connection between your code and the rover code that was already here? Have you tried that code? My rover is very similar to yours, just a slash chassis instead. Do you have any further plans for this?
  • Nice attempt JLN ! For a autonomous Rover, Magnetometer is MUST.

  • Developer

    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

  • Developer


    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?

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