[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
To anyone who can help,
This is probably a silly mistake on my part but I'm still stuck at uploading the "ArduRoverV2" firmware to my APM2. I've used Arduino 1.0.1, Arduino 22, and Arduino relax_patch. I run in administrator. My "libraries" and my "ArduRoverV2" folders sitting in "../Documents/Arduino". I thought it had something to do with ports and drivers but my APM2 isn't even connected and I'm just trying to compile, not upload yet.
Here is a screenshot
"undefined reference to mavlink" seems to be the problem...unfortunately I have no idea what that means.
Any help would be much appreciated
-Thanks
@Alan,
A used price of ~$125 for an APM1+Oilpan is a fair price as long as the module has not gone through a repair cycle due to crash damage.
I purchased a 2560 APM1 recently as I only had one other 2560 and was using it in a plane. All the rest of my APM1s are 1280s. Given all of the problems with the APM2, I am going to stick with the APM1 as it has a reasonably good track record now that it has been in production for a while. Also, if you do not need attitude detection, then a bare 2560 should work as you can still use a compass with the onboard I2C without the Oilpan I believe.
My MINDS-i Arduino Uno/Shield kit should arrive today so I can get started on the obstacle avoidance. Unfortunately my PING order from Parallax is being hung up by the late delivery of the PropScope that I ordered with the PINGs. Shipment is supposed to be on 6/11/2012.
Regards,
TCIII
THIS IS FOR PEOPLE HAVING TROUBLE UPLOADING BOTH THE CODE APMROVERV 1.0 AND APMROVER V2 using ARDUINO IDE.
(1) unzip the folder that you download from this page.
(2) copy and paste APMROVERV 1.0 or APMROVER V2 and its LIBRARIES folder on to the
location where you have your ARDUINO folder in your computer this is how mine looks like C:\Documents and Settings\N15H1D\My Documents\Arduino.
(3) open ARDUINO IDE click on file ---> sketch --> and you will see one of this sketch APMROVERV 1.0 or APMROVER V2 which ever code you have saved in the ARDUINO folder
(4) and click compile DONE.
@Thomas,
Yes it does. What do you think?
The APM2 uses a Gyro/accelerometer MPU6000 IC with fusion of the sensors. Does ArduRover use that?
Alan
@Alan,
Does the used APM1 include the Oilpan for that price?
Regards,
TCIII
@Thomas,
The MediaTek seems popular, and is perhaps the fastest? It looks like it is put into a binary mode. Maybe my LOCOSYS LS20031 can be as well. A lot of files for GPS!
I need to work up a list to see what parts are on the APM2 board, and if I can substitute. Some place there must be a selection for the hardware used. I can get a used APM1 for about $125. I really want the APM2, of course!
Best Regards,
Alan
@Alan,
The GPS modules that you see in the libraries have been used with the ArduPilots over the last couple of years. Some are better than others. I have the Sirf, Ublox and the MediaTek modules. From what Chris stated above, it looks like DIY Drones is evaluating still another version of the Ublox GPS that has a better antenna.
Regards,
TCIII
What GPS modules can APM2 work with?
I think I see Sirf, Ublox, MTK, HIL and 406, but what are they? I know of MediaTek. Can I use LOCOSYS LS20031? Can I write my own lib?
Thanks!
Alan
@Thomas
Ah yes, it compiles for me on the Arduino Mega 2560, just a range warning in FastSerial.
Thanks!
Alan
@Alan,
I had compilation success with both the IDE 1.0 and 1.01. Make sure your sketch path looks similar to mine: C:\Users\TCJR\Documents\Sketch1\APMRover2,libraries. Both the APMRover2 and accompanying library must be in the same folder (Sketch1 in my case) and the sketch folder should be in the Documents folder. Also, make sure that you have selected the correct board.
Regards,
TCIII
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