[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
Hello Kelvin and Boris,
The Xbee telemetry works well with the A¨PMrover, I suggest you to use the lastest version APMrover v2.20a that you will find at: http://ardupilotdev.googlecode.com/files/APMrover220_firmware.zip
I suggest you to read the tuto about the setup of the Xbee with the APM 1 at:
http://code.google.com/p/ardupilot-mega/wiki/APM1Wireless?wl=en
Regards, Jean-Louis
This is in my interest, too!
Hi
I am using APM1 (1280)+Oilpan and GPS with APMrover v2.16a firmware. Can i use Xbee for telemetry?
@Cody: GPS need to be locked (3D fix) and the home position stored in memory to use the APMrover in autonomous navigation...
@Ben: May ba that this is a bad memory mapping of the parameters, it is recommended to do a setup then reset with the planner (in terminal mode) when you upload a new firmware.
I'm trying to get my rover connected to the Mission Planner. It gets somewhere around "94 parameters out of 181" loaded, and then fails. Is there a way to know what the problem is? It's very consistent, stopping after RC3 DZ or RC4 MIN.
Thanks, I just discovered that a few minutes ago. I never realized a 3D Fix was required for the compass to work. It'd be nice if the compass could function independently of the GPS.
I look forward to running my rover tomorrow with the new firmware!
JLN: Excellent--many thanks! I'll test tomorrow when I've got my gear in front of me.
Hello,
I have just updated the APMrover 2.20 to 2.20a with a small tuning about obstacles avoidance with the Shap sensor. If the TRACE is ENABLED you will see in the planner message that the obstacle = 1 if the distance is less than the sonar_trigger distance. In the LEARNING mode (previously named STABILIZE mode) the wheel turns left when obstacle equal to 1. This is very helpful for the tuning and the mechanical setup of the Sharp sensor.
Ps: you must have the GPF 3D fix to get the ground_course displayed and all things working properly.
Regards, Jean-Louis
Correction:
The yaw (gyro z) is working fine, the gauge in APM Planner just isn't responding for some reason. I'm still not sure why the HUD compass and altimeter aren't working.
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