[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
@Chris: Ok, I shall try to update the v2.16a (with the latest lib) with the shap sensor feature ASAP...
Regards, Jean-Louis
Hello Jack,
The APMrover v2.16a support APM1 and APM2 board.
For the APM2 board, you need only to set:
"#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2"
Regards, Jean-Louis
Hi all,
I found following defination from APM_Config.h of APMrover v2.16a.
"#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1"
It looks like the version of APMrover v2.16a only support APM1 board.
It's correct?
JLN: I've ordered a couple of those Sharp sensors, which should arrive tomorrow. I'm planning to use your code at the Sparkfun AVC competition this weekend. Any chance you can upload a version using the latest APM libraries (which support the new 3DR uBlox GPS, which is my secret weapon!), before then? I'm using APM 1 with the IMU shield, but can do the Lite version if necessary.
Dear Jean-Louis,
following your way I had compiled and download sucessfully with newest APM2 board.
But the connection failure happened when I tried to communicate with APM2 by APM planner with MAV1.0.
I don't know what cause this failure.
Hello Robert,
I have tested the ultrasonic XL MaxSonar and the obstacles detection is too much noisy near the surface of the ground, with the Sharp infrared sensor the measurement is more accurate.
Regards, Jean-Louis
JL, I'm curious why you chose the Sharp sensor instead of sonar? Is it better?
Hello Thomas,
Try to power the APM board with a 5v Dc throught one of the pwm output. May be that the 3.3v FTDi cable is not sufficient to get power for the uploading sequence...
Regards, Jean-Louis
Hello,
To compile the APMrover v2 firmware (GIT official version with the new mavlink lib... with the Arduino IDE 1.0 relax patch, you need to:
This works well, see below:
Regards, Jean-Louis
Hello,
To compile successfully the beta firmware APMrover v2.13e you need to:
Its work well, see below:
As I have said in a previous post, I shall post a new update, next week for the arduino v1.0 and the new mavlink library.
Regards, Jean-Louis
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