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

Rob July 12, 2012 at 1:10pm

With firmware 2.20a and LITE DISABLED & CONFIG_APM_HARDWARE APM_HARDWARE_APM2 set, i also got the problem that when changing modes that my APM2 resets. Has anyone found a fix yet?
Developer

Andreas M. Antonopoulos July 12, 2012 at 8:59am

I believe Chris meant 57,600

Look for SERIAL3_BAUD
3D Robotics

Chris Anderson July 12, 2012 at 7:43am

Boris: Make sure you have the Port 3 speed set to 57,400 in the code.
Boris Matuschka July 12, 2012 at 2:10am

Could somebody help me getting my xbees to work? I have downloaded the latest Firmware 2.2 and uploaded to my apm2. in the code I have set it to APM2 and LITE DISABLED. But I do not get a xbee connection. What do I have to set, that the xbees will work? I have a second APM2 with the Arduplane Firmware on it. There I can connec the xbee to and it starts working... So shoulb be a code issue?!

cheers Boris
Chris East July 11, 2012 at 10:56pm

I'm pretty sure I set those variables but it does hurt to check and reload

3D Robotics

Chris Anderson July 11, 2012 at 10:40pm

Also, LITE should be disabled for APM 2:

#define LITE DISABLED // if LITE is ENABLED, you may use an APM1280 or APM2560 CPU only (IMU less) with a GPS MT3329

// if LITE is DISABLED, this is for a full APM v1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L) or APM v2

3D Robotics

Chris Anderson July 11, 2012 at 10:39pm

Chris: Did you select APM 2 as the board in the config.h file:

#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
Chris East July 11, 2012 at 10:37pm

Chris: I'll try one of the older versions to see if i get the same result
Chris East July 11, 2012 at 10:35pm

Chris: Mine is connected RC CH5 (3 position sw) to APM2 IN5, if i connect to APM2 IN8 i get no change in mode.
3D Robotics

Chris Anderson July 11, 2012 at 10:20pm

Chris: Are you sure about that In 5 mode thing? Mine is connected like the diagram: RC CH5 goes to APM IN8. Works fine... I'm using APM 1, but I don't think that should make a difference.

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