[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: I'm using a joystick instead of a radio. I tried reversing the joystick input, but it appears to only effect the APM2 output when it's in MANUAL mode and not AUTO mode.
R Lefebvre,
One might consider Mu Metal to shield the magnetometer from the magnetic field effects of the rover motor. You can usually find Mu Metal shields on the magnets of center channel speakers. Another approach would be to mount the magnatometer on a non-ferris rod above the chassis. The only problem with that approach is the problem of roll over (as was seen in the SF video) that can damage the magnetometer if it occurs during the event.
Just a thought.
Regards,
TCIII
Cody: I think an easier way to do it is by checking the "reverse" checkbox in the Mission Planner radio setup.
The steering is reversed on my vehicle, which interestingly causes it to drive directly AWAY from the next waypoint. I think I found in the wiki how to reverse servos, but I wanted to check here since it looks like you changed/added a few parameters. Here's what I have:
SWITCH_ENABLE to 0
ELEVON_MIXING to 0 (default)
RC1_REV to -1
Is this correct?
@Chris, so what was the cause of the Rover driving up onto the curb in the SF video? Was that false positives on the sensor?
I wonder if the permanent magnets in your motor are messing up the magnetometer reading? I think the APM ends up being mounted much closer to the motor than it does in other vehicles. Particularly on the SCX10 chassis you and I have.
How many batteries did you use and the voltage and current rating ? How long will it last ?
@Chris A,
When will the new uBlox GPS module be available or can you say?
Regards,
TCIII
At the DIY Drones multicopter rodeo today, I had ArduRover running for 20 minutes in autonomous mode, just doing the same loop over and over 30+ times. Incredible repeatability with the new 3DR uBlox GPS module. Basically, it was wearing a path in the grass until the battery ran out. Here's a plot of some of the mission:
Hi Jean-Louis,
merci por votre attention.
The test has been done with this values.
Regards.
MV
Hello,
For an accurate WP turns at high speed with the APMrover, I recommend to set the parameters ROV_AWPR_NAV to 0 and put the WP_RADIUS to 1.
This ROV_AWPR_NAV = 0 disable the automatic WP radius calculation (useful in flight), so the rover pass through the WP and then turns after...
Happy testing and have fun with the APMrover
Regards, Jean-Louis
-
32
-
33
-
34
-
35
-
36
of 77 Next