[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
The latest alpha version tested in the field (by Franco and me) is now pushed on the official GIT repository (working with the new mavlink library and APM mission planner v1.1.86 or more) at:
Revision:41a459e27699
This new version include the new speed booster between two wp and the slow start features (see previous post for more details).
Regards,
Jean-Louis
Jean Louis,
another thing I've noticed is that when you switch with ch7 in automode for RTL function, the rover stop very hard, after start good and go to RTL position stopping very hard. Can we have no stop when switching with ch7 like in the other revisions? and if it is possible stop the car soft also when it reach RTL position?
Of course I tell you everything I notice, on the contrary I can not be a tester........ Don't hate me!!!!!
best regards
Franco
Hello Jean-louis,
I've tested last revision:
SOFT START is very good, for my creewler the best is with sleewrate=8, but it depend from type of motors and gear ratio.
I've try boost too: it's ok but I've seen that car decrase speed velocity befoure to turn, and accellerates when it is turning. It's possible accellerates when has finish to turn? I meen when is in stright line?
Anyhow it's all ok for me !!!!!!! compliments !!!!!!!
IF you don't kill me, I've another suggestion for you!!!!
When I switch from auto to stabilized or manual, the car stop very hard..... it's possible to have a decelleration like the inverse of when it start?
Please don't hit meeee!!!!!!
Regards
Franco
Ps: I recommend you to do a setup/reset with the v2.1.3b of the APM because there are new params...
Hello Franco,
I just come back from the field and I have done successful test on the APMrover v2.1.3b (alpha version)
http://ardupilotdev.googlecode.com/files/APMrover213_firwmare.zip
Now the throttle seems correctly managed during the start, my tested value is:
THR_SLEWRATE 2
TRIM_ARSPD_CM 4 // 4 m/s
I have added a new feature which is amazing and works also well... This is a SPEED BOOSTER...
During straight lines if the speed booster is enabled, after passing the Wp, the speed is multplied by a speed factor ROV_BOOSTER = 2 (i.e. this is my tested value... so the required speed will be 2 x 4 = 8 m/s in straight lines), the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)...
This feature works only if the ROV_AWPR_NAV is set to 0
So to summarise to test these new features you need to set:
#define AUTO_WP_RADIUS DISABLED
#define BOOSTER 2 // booster factor between wp
#define AIRSPEED_CRUISE 4 // ground speed in m/s
#define THROTTLE_SLEW_LIMIT 2 // increase step during accel (here = 0.2)
if this work with you, I shall push these improvement to the new mavlink version
Enjoy with the APMrover 2.1.3b
Regards, Jean-Louis
Jean.louis I need a little help from you.
I've made other tests, and I've notice one thing.
If I give a value of 70 (this is the value where the rover start to go) instead of 50, as I switch in automode, the rover start to go immediately with very slow speed, and after 2 or 3 seconds start the soft accelleration until it receive the right cruise speed. So I think there is something like delay befoure slewrate function start.
If I let the value at 50 (throttle =0) when I switch to auto, the rover turn immediatly the wheels to the waypoint direction, wait 2 or 3 seconds and after start with soft accelleration (that is very OK).
At this point just to be perfect (it would be good like this), we need to find why it wait 2-3 seconds.
if you know, there is a delay function somewhere in the code?
I wait your answare and in the meantime, I try to resolve it.
Best regards
Franco
Hello Jean-Louis,
THROTTLE SLEWRATE RESOLVED!!!!!!!!!
The mistake was due because of this line in Attitude arduino file:
g.channel_throttle.servo_out = constrain(((float)throttle / 10.0f), 0, g.throttle_max.get());
Where 0 we need to change with 50.
with a slewrate of 10, the rover start very soft, but it has a delay because from 50 (= 0 throttle) to 65 (= real value where the rover has power enought to start, the slewrate spend 2 or 3 second to arrive at the start point value.
Now I'm trying to change the value from 50 to 60 or around this value for have the fast start point with slow accelleration.
It'will be good to have a parameter value to change directly in apm planner, for change it without connect and reconnect rover to arduino (also because I don't know if different radio and esc, need differents values).
When I have the best values, I told you!!!!!
Regards
Franco
Hello Alan,
I am using The ESC XL-5 from Traxxas in my rover, this is a very good and waterproof ESC for brushed motors:
http://traxxas.com/products/parts/escs/xl5waterprooflvd
Regards, Jean-Louis
Hello Jean Louis,
ok I wait your test!!!!!
Thank you very much for your efforts!!!!
regards
Franco
Hello Franco, Thanks for the alpha version testing of the APMrover. I need to do myself some tests in the field with the alpha version v2.1.3a so I shall be able to correct the code in live...
Regards, Jean-Louis
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