[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
Just for know, I've try now tu upload APM mission planner to the last release, but is the same!!!!
this version has the old libraries, the problem may due becouse of this?
regards, Franco
Hello Jean-Louis
I've problems with xbee comunications. When I change from manual to auto it loose the comunication.
The version I've try befoure was the 2.1.5, there are some changes into the mavlink libraries?
I've control with x-ctu the comunications and everything is OK!!!
Where is the problem?
You will find the details of the update about the APMrover v2.1.3a in my GIT repository at:
Revision:9bd6dda3bbf8
Regards, Jean-Louis
Hello Jean-Louis
I download now and I try!!!!!!
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
Hello Jean Louis
Ok!!! I wait your new release!!!!
Regards, Franco
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
Hi Jean Louis,
I've made other tests: if you increase the values until 100, the rover start to decrease the backwards distance. At 100 the Rover go backwards for 5 cm or less and then start to go frontwards fast. It's obviusly that the inversions of the motor power seems like the car make a little soft-start but is only due to the power reverse traction. After this value (100) until 2500 the car doesn't change any situation (is like a value of 100).
What do you think?
Best regards
Franco
Hello Jean-Louis,
I've try 2.1.5 rev. and I report you then:
with slewrate =1 the car go backwards with very fast accelleration
with slewrate =5 the car go first backwards for 2 meters with fast accelleration, and after start to go forwards with soft accelleration. If than you put it in manual mode and after in auto, it repeat se same situation: go backwards for 2 meters with hard accelleration, and after start to go forwards with soft start.....
Now I try with a value of ten, but I think is the same...... wait!!!!!
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
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