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

Hello from the Sparkfun Competition, where I'll be competing with this today!

Here's a bunch of useful tips that we'll put in the formal ArduRover documentation soon:

You can get the Sharp IR distance sensors here (get this cable, too).

If you're using the APM 1 IMU shield, you can solder the IR sensor wires to these pins (A0, V+ and GND):

Enable the Sharp IR Sensor by checking the "Sonar" check box in the Mission Planner setup. Also don't forget to calibrate your compass with the "Live Calibration": just click the box, click OK, and point the rover to the four points of the compass and up and down, each for a few seconds, until it tells you that's it's done.

Set this distance you want it to trigger it from the Parameter list:

You can test it by looking at the Mission Planner telemetry monitor window (this only works on the USB port; it will not work on the Xbee/3DR radio port):

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Comments

Rob_Lefebvre June 18, 2012 at 10:08am

@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.
3D Robotics

Chris Anderson June 17, 2012 at 6:08pm

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:
MVeloso June 17, 2012 at 11:11am

Hi Jean-Louis,

merci por votre attention.

The test has been done with this values.

Regards.

MV
Developer

Jean-Louis Naudin June 17, 2012 at 10:19am

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
Developer

Jean-Louis Naudin June 17, 2012 at 10:12am

Hello Françis,

The APM 2 need to be powered to 5V DC through the servos output of the APM. Does you have been able to do a calibration of your radio with the planner ? This is required to get the output.

For more infos about the calibration process, look at:

http://code.google.com/p/ardupilot-mega/wiki/APM2ReversingTop?wl=en

Check also if the PPM strap is set properly:

Good tuning,

Regards, Jean-Louis
MVeloso June 17, 2012 at 8:27am

Yesterday I did some tests with my "Urban Rover".

Full APM V1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L)

No sonar.

Firmware APMrover v2.16a JL Naudin.

The WP were saved using learning method.

The vehicle missed the points(saved WP) 1 to 3 meter.

And sometimes she passed thorough the same points . Close to the saved ones !

I have a video:

https://www.youtube.com/watch?v=3CTdpaKKxS0&list=UUd-wyMorRD2QZo...
3D Robotics
Chris Anderson June 17, 2012 at 7:33am
Good news from the Sparkfun competition: ArduRover successfully completed the course in the third round! I had a really slow rover, so there was no chance of winning, but it was a perfect run, hitting five waypoints precisely with no weaving in-between.

A few observations/lessons:
1. I had to turn off the Sharp IR obstacle detection. Too many false positives. I think we should change the code to require at least two or three readings inside the target distance before the obstacle flag is set. I know this will slow detection a bit, but we need some kind of filtering.
2. I can't get the CLI to work in the current ArduRover code, so I can't download my logs. I'm using an APM 2560, so I should have plenty of memory for this. JLN: do you know why it's not working?
3. The soon-to-be-released 3DR uBlox 6 worked great. It's a must-have for rovers, and much better than the Mediatek for ground applications.
4. Most of the other rovers at Sparkfun were not using a magnetometer. Instead, they just use the GPS vector and a gyro to maintain heading. JLN: for people using the APM with the IMU shield, is the gyro used to maintain heading? If so, what additional advantage is given by enabling the magnetometer?
3D Robotics

Chris Anderson June 16, 2012 at 6:12am

Hello from the Sparkfun Competition, where I'll be competing with this today!

Here's a bunch of useful tips that we'll put in the formal ArduRover documentation soon:

You can get the Sharp IR distance sensors here (get this cable, too).

If you're using the APM 1 IMU shield, you can solder the IR sensor wires to these pins (A0, V+ and GND):

Enable the Sharp IR Sensor by checking the "Sonar" check box in the Mission Planner setup. Also don't forget to calibrate your compass with the "Live Calibration": just click the box, click OK, and point the rover to the four points of the compass and up and down, each for a few seconds, until it tells you that's it's done.

Set this distance you want it to trigger it from the Parameter list:

You can test it by looking at the Mission Planner telemetry monitor window (this only works on the USB port; it will not work on the Xbee/3DR radio port):
Developer

Jean-Louis Naudin June 15, 2012 at 10:13pm

Hello Cody,

I am glad to see that you have succeed in following waypoints with the APMrover. Congratulations !!!

Regards, Jean-Louis
John Hestness June 15, 2012 at 4:38pm

@Alan, Rasberry Pi is out. Maybe that could run it. Weight is a couple ounces, power is 5v at 700 mA, price $35, runs linux, size looks not much bigger than APM1.

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