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

3D Robotics

Chris Anderson July 12, 2012 at 4:53pm

Alan: the one in the manual.
KM6VV July 12, 2012 at 4:51pm

Chris,

It appears that JL's connection diagram (above) shows a Turnigy receiver connected to channels 1-8. What drawing should I be looking at? OK, that's an APM1 pix.

Mine hasn't arrived yet, so I'm still reading.

Thanks,

Alan
3D Robotics

Chris Anderson July 12, 2012 at 4:16pm

KM6VV: we're referring to the APM inputs, not your RC outputs. Anything from 5 channels up is fine.
KM6VV July 12, 2012 at 2:15pm

What if I have a 7 channel T7C?

Alan
Rob July 12, 2012 at 1:59pm

i just downloaded the 2.20firmware and set apm2 and lite disabled and uploaded the firmware. that gives me the modes: auto, auto, stabilize, stabilize, manual, manual. Switching from auto to manual goes good, switching back to auto re-initializes the board. After changing Auto to RTL, switching between Manual and RTL doesnt re-initialize the board anymore. When i change RTL back to Auto, the re-initilizing is back. That is the best description i can give atm.
3D Robotics

Chris Anderson July 12, 2012 at 1:35pm

Interesting. How had you programmed the modes before???
Rob July 12, 2012 at 1:34pm

found the solution (atleast for my problems) i changed the saved modes in apmplanner and now the board doesnt re-initialize.
Rob July 12, 2012 at 1:27pm

I can change from RTL to MANUAL, but changing back to RTL resets the APM2
Rob July 12, 2012 at 1:24pm

Mode channel is connected to In8. Just tested firmware 2.16 and same problem (changing mode goes correct, changing the mode back re-initialises the board). so i am starting to doubt my settings in my Tx, which is the turnigy 9x. More testing is needed at this end
3D Robotics

Chris Anderson July 12, 2012 at 1:16pm

Rob: And putting the Mode channel on In8 doesn't work?

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