[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
Guys, let me reiterate, this is a fun project to work on. It's low stress because the rover is... well it can't crash. I hit my house a few times, no damage, just roll it over and keep going. :D And the best part is, I can say that V1 that I tested, it just works. I didn't even do any PID tuning, it just worked (once I got the wiring right!).
I can suggest that if you're looking to set up a machine, it might be best to use a 45 or 55 turn "Crawler" motor as it will be operating in a better speed range than if you use a high performance motor from a racing truck. I'm using a 4wd "crawler" truck and it's cool because it will drive over anything... until it flips.
This is a fun way to get used to mission scripting with no risk if you have an old RC car lying around. And I'm sure we all do. ;)
If anyone has a spare APM 1.4 they want to get rid of, or direct me to the easiest place to buy the necessary and cheapest APM gear for this, message me.
Makes sense. Looks like I need to find an APM2560 then since I have the shield and an APM1280 already.
Thanks for the update! I'm very excited to try this out now.
The APMrover V2 works well with the APM1280 with IMU shield (OilPan) with the magnetometer and the GPS MT3329. In the v2 the magnetometer can be used for a better accuracy at low speed. It is possible to use Xbee telemetry and logging feature (APM2560 and APMv2 only)
The APMrover v1 is the IMUless version of the firmware, the code has been reduced so as to have more memory space for the CPU of the APM1280, the magnetometer can't be used here. It is not possible to use logging here with the v1.
Regards, Jean-Louis
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
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