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APMRover 2, a fun UGV project for full autonomous recon missions...

Posted by Jean-Louis Naudin on May 2, 2012 at 2:30am

[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.

3689454489?profile=original

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.

3689454514?profile=original

3689454602?profile=original

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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:

3689454536?profile=original

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:

3689454662?profile=original

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Have Fun and Enjoy with the APMrover...

Regards, Jean-Louis

Tags: ardupilot, autopilot, drone, uas, uav, ugv
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Comments

  • Earl May 16, 2012 at 10:17am
    I am getting ready to try your latest version on my big tank. I will let you know how it goes. My control esc is an m3 dual motor proportional control with the DIG function.
    Earl
  • Developer
    Jean-Louis Naudin May 16, 2012 at 9:47am

    You will find the details of the update about the APMrover v2.1.3a in my GIT repository at:

    Revision:9bd6dda3bbf8

    Regards, Jean-Louis

  • Developer
    Jean-Louis Naudin May 16, 2012 at 9:39am

    Hello Franco,

    The new release is done at:

    http://ardupilotdev.googlecode.com/files/APMrover213_firwmare.zip

    I have put an offset at 50% throttle so this equal to zero for the ESC...

    0% = full backward, 50%=stop, 100% is full forward...

    I hope this will work now...

    Good testing

    Jean-Louis

  • Developer
    Jean-Louis Naudin May 16, 2012 at 9:26am

    Hello Franco,

    Thanks for your very helpful test report from the field. I see where the bug is located...This is due to the bad offset of the throttle... I have forgotten that the zero throttle was in the middle (50%) and not to zero (0%)...

    I shall correct this and it will soon works...

    Regards, Jean-Louis

  • MVeloso May 16, 2012 at 2:30am

    Hi jean-Louis,

     

    thank you!

    Yes, it was a jolly mission.

    But...I have to share this achievement with you.

    Merci pour votre travail.

     

    Best regards.

     

    MV

  • Developer
    Jean-Louis Naudin May 15, 2012 at 10:28pm

    Hello,

    For those have already tested successfully the APMrover v2.1.2 and doesn't want to change the working library and want to test the new method for increasing the throttle which gives a smooth acceleration, you will find the new v2.1.3a with this feature at:

    http://ardupilotdev.googlecode.com/files/APMrover213_firwmare.zip

    This can be done with the parameter THR_SLEWRATE

    #defineTHR_SLEWRATE      1  // if set to 1 the throttle increase is by 0.1 steps, if 0 it is disabled

    I recommend you to try 1, this gives a step of 0.1. Only positive values must be used, you may try 1, 2 ,5, 10... if you put 0 the throttle management is like the previous version v2.1.2.

    Regards, Jean-Louis

  • Developer
    Jean-Louis Naudin May 15, 2012 at 9:59pm

    Hello MVeloso,

    Woow, Congratulations you navigation plan is impressive and I am very glad to see that you have done a successful test of the APMrover.

    Good work, Jean-Louis 

  • MVeloso May 15, 2012 at 3:07pm

    Hi,

    so this was the plan:

    3692419298?profile=original

    and this is the video:

    It worked fine. But some corrections to do.

    I had only my little GoPro but you can have a good ideia about the test.

     

    https://www.youtube.com/watch?v=_k_j0UxmiMk&feature=youtu.be

     

  • Developer
    Jean-Louis Naudin May 15, 2012 at 11:48am

    Hello TCIII,

    Good idea to use an external board for obstacle avoidance, you may send infos to the APM through the analog input which is actually used for the sonar.

    Regards, Jean-Louis

  • Developer
    Jean-Louis Naudin May 15, 2012 at 11:45am

    Hello Franco,

    You will find a new alpha version APMrover v2.1.5 for testing: This version use a new method of increasing/decreasing the throttle with the THR_SLEWRATE, I recommend you to try 1, this gives a step of 0.1. Only positive values must be used, you may try 1, 2 ,5... if you put 0 the throttle management is like the previous version v2.1.2.

    You will find this new ALPHA version at:

    http://ardupilotdev.googlecode.com/files/APMrover215_new_mavlink.zip

    Please use the library included, this is the new latest library with the uptodate mavlink lib from the official GIT.

    Happy testing,

    Jean-Louis

This reply was deleted.