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 17, 2012 at 2:44pm

Alan: APM 2 (unassembled) assembly instructions are now in the product listing.
Developer

Linus July 16, 2012 at 10:52pm

Hi rover enthusiasts,

i moved the electronics to an 1/10 buggy and got the rover working pretty good now.
i am realy impresses how accurate it is even without the new gps.

i have learned alot while tinkering and will go on with testing an full apm setup with imu and ir sensor.

my setup:

APMrover v2.16a
Turnigy 1/10 Brushless 2WD Desert Racing Buggy
Turnigy 9x Transmitter
ArduPilot Mega 2560
MediaTek MT3329 GPS
APC220 Radio Communication Module

thanks for releasing the code into the public Jean Louis!

regards,
Linus
KM6VV July 16, 2012 at 10:05pm

Hi Chris,

It's OK, at first I thought the little board covered one of the connectors. Turns out I had it upside down. Little connector goes through the board (that's why there are holes through the board). So no problem.

No instructions, but it's simply a matter of soldering in the connectors. no problem.

Now that I know it fits, I can just leave the little board installed. Since the magnetometer is on that little board, I'm thinking maybe I can mount it and the GPS remotely, like up on a 2' pole to get them away from the magneticics and noise.

Alan
3D Robotics

Chris Anderson July 16, 2012 at 8:40pm

Alan: I don't understand the question. You want to know how to solder together the APM board? Didn't it come with instructions?
KM6VV July 16, 2012 at 8:39pm

OH, maybe it's upside-down? Yeah, that works!

Alan
KM6VV July 16, 2012 at 8:33pm

OK, just received my APM2 and the new UBLOX GPS. The little GPS board for the Mediatech GPS is cut in half, and still has the 4M MicroSD card socket and card, and another small chip which I take to be the Magnetometer. With this little board installed, it covers up part of the 14x3 connector and a 3x1. It's a kit, so I haven't started soldering yet. What should be done with this board?

Alan
3D Robotics

Chris Anderson July 14, 2012 at 7:59am

Boris: No. Uart3 is the default telemetry port on all Ardu* projects and the one labled "telem" on the board. You don't need to change anything.
Boris Matuschka July 14, 2012 at 7:06am

so I see the xbee must be connectet to uart 3? do I have to set the solder points on the down side of the apm2 ?
Cliff-E July 13, 2012 at 6:58pm

@Rob,

Same result here on a DX6i, with the DX6's chan 5 on the APM's chan8. APM switches from AUTO to Manual, but switching back causes the APM to reset. Odd. Checking the code later tonight.

To others, basically you want the following setup:

Vehicle Left-Right == APM chan1 == Rx's Aileron / Roll or Chan 1 (Futab/Turg), Chan 2 (Spek/JR)

Vehicle Fwd/Backwd == APM chan 3 == Rx's Pitch / Elevator or Chan 2 (Futab/Turg), Chan 3 (Spek/JR).

You want the vehicle 'true' throttle to be on a stick that re-centers, hence the elevator stick on a mode 2 Tx.
KM6VV July 12, 2012 at 5:22pm

Ah yes, That's what I was trying to find. So it's different because it's an APM2?

I see the 7 & 8 inputs.

Thanks,

Alan

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