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

[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

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Comments

TFrancis June 9, 2012 at 2:07pm

Hello again DIY community,

I understand that to control the ArduRover2 you need 3 to 4 channels. I was wondering if I can use a 2-channel radio (I know not very ideal) and use an Xbee system to control the mode and options (ch 7 & 8)? The plan is to use a computer and the Xbee to control the entire rover anyway and only in case of emergencies to use the radio.

Any advice at all would be well appreciated

Thanks, in advance
3D Robotics

Chris Anderson June 9, 2012 at 12:55pm

A few more lessons from testing today:

1) The new 3DR uBlox GPS, which will be coming out in a few weeks, is 1000% better on ArduRover than the original MTK. Night and day! Totally locked in and 1m accuracy.

2) Warning for those using the magnetometer with ArduRover. For some reason, the default setting of its orientation in the code (APM_Config_Rover) is #define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD.

This is upside down for most people (the default setting for all other Ardu* projects is Components Down). So change that line to: #define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD

We'll be posting a fuller tutorial soon.
jesse June 9, 2012 at 5:16am

I ordered a FTDI cable so I will see if that works. I am able the use APM Planner without any issues, so I'm sure my system is ok. Thanks for your help I'll let you know once I get the FTDI cable.
Admin

Thomas J Coyle III June 9, 2012 at 5:03am

jesse,

If you have an FTDI cable handy, I would try communicating with the APM1 with that cable to ensure that the APM1 is functional. I assume that you have selected the correct processor in the tool drop down menu? Is your board a 1280 or a 2560? Also, does your USB port have enough capacity to handle the APM/Oilpan combination. I assume that the power light on the APM1 is ON when you have the module plugged into the USB cable. Is the USB cable good to go?

Regards,

TCIII
jesse June 8, 2012 at 7:45pm

Chris, Garland just up the road.lol. I am plugging in to the IMU shield(Blue Board). I made the changes to the COM port but still no go. Does it matter what is selected on the Tools/Programmer Menu?
Admin

Thomas J Coyle III June 8, 2012 at 5:54pm

@Chris,

Are you using a newer library than comes with APMrover2?

Regards,

TCIII
Richard June 8, 2012 at 4:10pm

sorry of this is a dumb question but I am after a bit of clarification. You said that v1 light works with the apm v1 1280. did you also test v1 light with the magometer? And did you also test it with the camera? Thanks in advance.
j.baum53 June 8, 2012 at 3:58pm

hey, is anybody willing to advise me as to how to fix my rover/car?

it ran into a piano and the RC receiver/controller circuits are non-functional now. (it will not respond to signals)

the motors are fine, it's just the RC circuits. I've been thinking of just adding a control chip and ignoring the remote part of it.
3D Robotics

Chris Anderson June 8, 2012 at 3:44pm

JLN: ArduRover 2.16 is giving a couple of compile errors with the new MAVLink 1.0 libraries:

APMrover2.cpp: In function 'void send_heartbeat(mavlink_channel_t)':
GCS_Mavlink:74: error: 'MAV_MODE_FLAG_LEARNING_ENABLED' was not declared in this scope
GCS_Mavlink:94: error: 'MAV_MODE_FLAG_LEARNING_ENABLED' was not declared in this scope
APMrover2.cpp: In function 'void init_ardupilot()':
system:234: error: 'MAV_GROUND' was not declared in this scope
Admin

Thomas J Coyle III June 8, 2012 at 3:01pm

jesse,

Are you communicating directly with the APM1 or through the USB connector on the Oilpan? If you are communicating directly with the APM1 are you using the correct FTDI cable and is it connected to the APM1 header correctly? Also, if you are using a FTDI cable, do you have the RST reset box checked in the COM8 port properties?

Too bad you live clear down at Corpus Christi as I could have come over and helped you out, but I live a ways away in Garland!

Just a thought.

Regards,

TCIII

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