[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
Guys will this work on HK's newly released Arduino 2560 board?
http://www.hobbyking.com/hobbyking/store/__25085__Arduino_Mega_2560...
Hello,
When the Rover is in AUTO mode what parameter is used to control the throttle?
Thank You,
Biz
Check out DPA's Jbot!
Jbot
David explains his use of accelerometer data in one of the videos, where he's WAY over on a side.
Alan
What about multiple magnetometers/accellerometers/etc?
I'm wondering about locations and orientations of specific parts (like axles), and if that data would be useful for learning how to prevent rollovers because of excessive angles.
Thanks again!
@Chris,
Yes, I've been looking at the schematics and board files!
Data logging. That's true.
A remote Magnetometer! Maybe I shoulda waited! But one can't wait forever! What's the fix/change? Something that could be applied to the APRM2 I just bought?
Alan
Alan,
Yes, that product listing has lots of other documentation, including the schematics and board files. The MPU-6000 can read a magnetometer, but not one good enough for our purposes, so we do that sensor fusion externally.
The SD card is not required, but obviously you won't have datalogging without it. If you want a remote magnetometer, you might want to wait for the next version of APM2.x, which will allow that.
Ah!
Very nice. And fast!
Is there additional documentation on the board and shield? I'd like to know the functions of each of the headers/pins. I've been studying the diagrams; and will get it worked out, but I'm sure there a few details that would be a puzzle (at least to me for a while). If I read it right, you show two (BM & SM) connectors on the board. I figured out that these are the straight and right-angle versions of the connector. Of course I looked up all the chips, and can deduce their functions in the circuit. I am curious if the MPU-6000 can read the magnetometers? Its data sheet suggests that it could use the info.
As I've mentioned earlier, I'm interested in moving the magnetometers and the new LEA-6h GPS "up a post" to get them clear of the metal influences of the motors (and whatever else). Is the SD card needed/used by the APM2, or just the old GPS? I'd like to minimize the wiring (not all 12 + 4 lines) to the GPS "head". Thoughts?
Thanks!
Alan
Now changed.
Yes. We'll change that to a PDF.
@Chris,
The "Pin Assembly guide" Pins Base and Pins Shield?
Otherwise I'm not seeing it. Had to search for a RAR program.
Thanks!
Alan
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