[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
Is v2 still compatible with the 1280 APM? If so, what's the difference between the light version and v2?
Any idea about the Xbee? Should it work now?
I'm browsing the code a bit. Man, it's going to be hard to disentangle it from the Ardupilot code.
Great stuff JL! If you don't mind maybe I'll try to port my LEDS code into it.
roll channel would be useful for roll in cars also: for servos wich could move wheels on one side up and on the other down, just like mars rovers and rapper cars do ;)
Hello to all,
The APMrover v2.0a (alpha) is now on the official GIT repository at:
Revision:a3e7a0c2ff18
Hello to ALL,
As I have promised you, I have just uploaded the full firmware of the APMrover v2.0a (alpha) for the full APM v1 (with the Oil Pan shield and its magnetometer) or for the APM v2. You may use the AP mission planner for the setup and params, set only as arduplane. With the magnetometer the navigation will be more accurate at low speed.
You may use the configurator and the planner for the nav. ALL the features of the APMrover v1.0 are implemented (i.e. Live saving of the WP, automatic WP radius calculation...)
You will find the full zip firmare of the APMrover v2.0 at:
http://ardupilotdev.googlecode.com/files/APMrover2_firmware.zip
And also in my GIT repository at:
http://code.google.com/r/jlnaudin-area51/source/browse/#git%2FAPMro...
Enjoy with the APMrover v2.0
Regards, Jean-Louis
Hello Robert,
To reverse the direction of the wheels in MANUAL and STABILIZE mode you must reverse the direction on your transmitter.
To reverse the direction of the wheels in AUTO mode you must use the APM mission planner and reverse the direction of the ROLL (see below).
For the tuning you need to use the AP Mission planner in arduplane mode and use the configuration pannel
The nav tuning is done with the parameters: Nav Lateral Pid, CrossTrack Gain, Navigation Roll Angle
The speed tuning is done with the parameters: Energy/Alt Pid
As I have said previously, I shall soon upload the APMrover v2.0 with the magnetometer for the APM v1 and APM v2, stay tuned...
Regards, Jean-Louis
Hello Robert,
Glad to see that you have get the APMrover working. For a better accuracy of the tracking you may update the AP_GPS library (AP_GPS_MTK16.cpp and AP_GPS_MTK.cpp) and set the mtkgps to 10 Hz.
// set 4Hz update rate
//_port->print(MTK_OUTPUT_4HZ);
// set 10Hz update rate
_port->print(MTK_OUTPUT_10HZ);
// turn on SBAS and WAAS
_port->print(SBAS_ON);
_port->print(WAAS_ON);
Regards Jean-Louis
Yeah, I would have thought the Rover would steer with yaw but... whatever, it works. I'm sure it's all just semantics at this point. But if we get our own environment for MP, then we can change the names.
I'ld like to use input 2 on APM, and output 2 on APM for the throttle. Makes more sense to me? That should be easy to do.
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