[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
Hi all,
Thanks for the interesting reading you all have provided. I am about 60% done with my rover build but Ihave an issue I would like to get help on if possible. What setting would I change to increase the range of motion on the steering servo?
As soon I can get past this I think my build will be technically completely and then I can gather all my pictures and write down what and how I did things so that I may add to the group.
Humbly,
ramos96
In the picture below are the 2 ranges that are reported by moving my transmitter steering stick.
There are 2 parameters that influence this, cause I found that the rover doesn't really obey the set speedlimit.
But it obeys Throlle_slew_limit (I use =2) which limits how fast your throttle changes, so it takes of gently instead of immediately full throttle and Throttle_max ( I use 65, which equals 15% cause 50% is no throttle and below 50% is braking/reverse)
You can change them with mission planner (parameter list)
Let me know how it goes !!
Hello,
I have a Traxxas Slash 4X4 with an ArduPilot Mega 2.0 and a Sharp IR distance sensor for obstacle avoidance. I have no issues running my rover from my RC controler but when I switch to Auto my rover takes off at full speed. After watching U4eake's video (Congratulations for your successfull run) I noticed at time;
0:34 Speed can be set and throttle limited for safety.
0:39 Throttle limited to 15%
Can someone please tell me what parameter was adjusted to set speed and to limit the throttle.
Thank You,
Biz
Here's a video of a pretty successfull run. Stil trying to figure out why it sometimes makes a 270° turn around a waypoint instead of a 90° turn the other way.
Finally success ! Today during luchbreak I had my first successfull mission with ardurover :-) It works very nicely !
After previous post I still had compass troubles. It just kept pointing in wrong directions. Yesterday it finally struck me : I had a magnet on my camera to hold the wide angle lens and this was about 10cm (4inch) away from the compass. Ofcourse it was always pointing in the wrong direction.
It should be 'the compass is responding crisp in mission planner".
Hello eake,
You said "I have removed the compass heading calc out of the if statement, so that it gets executed with every update_gps call and now my gps is responding crisp in mission planner, wether the gps had fix or not. The heading in mission planner is also MUCH more stable and precise, just like it is in arducopter." Can you please provide for information on how you did this?
Thank You,
Biz
Hi eake?
Well that sounds close. I'm looking for something to "fill in the gaps" when the GPS update is not available, like when the 'bot goes under a tree or too close to tall buildings.
Alan
Alan, no there's no dead reckoning or inertial navigation. But the mediatek does lag behind about 1.2 sec, so it will happily keep sending data if fix is momentarily lost.
Also, for arducopter, Jason had made a lead filter, which counters the 1.2 sec lag from the gps by calculating real position, based on speed an direction. So it estimates where the copter will be, 1.2 sec after the reported gps position. I would like to try and get that into ardurover as well.
I'm in the ardurover.pde file, almost at the bottom in the update_gps() function.
See anything to extrapolate the position if GPS fix is lost (dead reckoning from inertial and/or odometry ?)
what file are you in?
Alan
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