[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 Thomas,
I use arduino to check the programming. With mission planner you are dependant on mission planner being fully compatible with ardurover. And although Michael does an awesome job in this, since ardurover is not so popular, it may perhaps lag behind sometimes?
Your radio ranges seem normal.
1) Stabilise is indeed learning mode. The modes normally come setup correctly as default. They should be
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
These can be found in APM_config_rover.h.
2) Did you have gps lock ? The 2 way switch will make the apm save a waypoint or RTL, depending on which mode you are in (learning or auto). But it needs gps lock for both. It might not be frozen, but just waiting for a gps lock so it can complete your command.
3) They should be the same : they change setting values in the eeprom of the apm. However, the firmware tab does it by running code in the apm and sending feedback to the computer, while the mission planner does it on your computer and sends setting values to the apm. So the firmware tab is more "certain" cause you don't depend on mission planner doing the right thing. But mission planner is ofcourse easier and should work just as good. I usually do a first setup with CLI (firmware tab) and then modify (finetune) parameters with mission planner after some testruns.
4) Use arduino to compile and load the firmware. Read the configuration files and look things up (or ask) until you understand them. Then you'll completely understand what's going on in that little brain on your rover :-)
5) CLI switch is outdated and not used anymore : # define CLI_SLIDER_ENABLED DISABLED
Hope this gets you on your way again :-)
Does the code absoulutly requite a 6 channel radio?
Zero success. I can’t seem to get rover to do anything. Manual mode doesn’t work (well it dose seem to do something, some time, but never anything consistant.
I’m using Xbee telemetry.
I do not have a 6 channel radio (3 posit switch and 2 posit switch). I have tried a 5 ch radio ( 2 posit switch for landing gear) and a 2 ch radio.
Does the code absoulutly require a 6 ch radio? Or does the code need to be modified?
Hi All,
I know that this is a double post, but many of you are not in the ArduRover User Group and may not have seen this discussion and could possibly provide useful input.
For those of you who have your ArduRover working, I need some input from you concerning the setup of the radio channels.
I am using a Spektrum DX7 transmitter and a BR6000 receiver. I have the receiver connected to the APM1 R/C inputs per the diagram. I get the following R/C channel ranges in the MP:
Roll: 1109 - 1891
Pitch: 1110 - 1885
3 Way Switch: L 1148, M 1501, H1853
2 Way Switch (momentary): 1109 - 1892
I have the flight modes setup as follows: 1 Auto, 2 Auto, 3 Stab, 4 Stab, 5 Man, 6 Man.
Questions:
1) Do I have the flight modes set correctly for the ArduRover. I am assuming that the Stabilize mode is the Learning mode? I have saved the flight modes using the MP.
2) When testing the two way switch, the APM1 will lock up and requires a reset. Possible cause?
3) What is the difference between the actions in the Configuration Tab and the "Setup" button in the Firmware Tab in the MP?
4) After using the MP to load the latest ArduRover software and doing a reset in the CLI setup, what is the best approach to follow to complete the setup of the ArduRover. Should I start with the Setup in the Firmware Tab or go and use the functions in the Configuration Tab? The Setup initiated from the Firmware Tab seems to be very basic while the Configuration Tab functions are very detailed in the number of parameters that can be adjusted.
5) I have noticed that it does not matter what position the CLI switch is in on the Oilpan as I can initiate the CLI connection in either position. What position should the CLI switch be in for normal run operation? I think that it should be towards the servo pins for autonomous operation? Comments?
Regards,
TCIII
Regards,
TCIII
Neil, yes, it's that simple. You don't need takeoff or return to launch commands. Takeoff is for planes / copters and you can activate RTL with channel 7.
You do need to have GPS 3D lock before you can engage auto mode. Since your gps in inhouse, I suspect that's why nothing happens : you don't have lock. Try it outside, after the gps has obtained lock.
The gps doesn't need to move to get a lock, it just needs to be outside and have a clear view of as much sky as possible, so it can receive the gps sattelites that are orbiting the earth.
Chris, try the CLI command line interface to enter your magnetic declination
Neil,
I believe that the GPS has to be moving to get an accurate fix and since it is not moving, I suspect that you will not see much if any steering/motor output.
Just a thought.
Regards,
TCIII
Magnetic declination? How is it entered? I've enabled the compass via CLI, but I don't know how to enter declination (12.25 in my neighborhood). There also seems to be a way to do this in the Configuration menu under Hardware Options. I've tried that but it doesn't stick. Also, once Iv'e entered it correctly how do I know that it has been written to the EPROM?
u4eake;
On my desk I’ve connected the Rx and APM per JLN’s diagram and connected a servo to the #1 output (steering) and an airplane ESC and motor on the #3 output. I reloaded the Rover 2.20 firmware and calibrated the radio. Powered down and up to get the rover icon to show.
All four channels work, as verified by putting servos on each output and moving them. The motor servo only works in the forward direction but that’s probably because it’s airplane and not supposed to reverse (?)but the crawler I had hooked up yesterday worked in both directions. In FP I added two way points and wrote them to the APM. I switched the MODE switch to AUTO (configured as flight mode 3) and nothing. I'm stumped.
Neil
Hi all, I am not near my build due to being offshore on an oil rig enroute to the Gulf of Mexico, but i did get as far as being able to download the waypoints to the rover during the time I was home. I dont think my GPS was latching onto the satellites which stems probably from my soldering job which I am going to have to rework when I get home.
Thanks u4eake;
That must be the short virsion or is it really that simple? I tried all that for two days and finally had to take the truck apart because I borrowed it from a friend to try the APM. In the waypoint list I started with TAKEOFF, then a waypoint, then another way point and then a RETURN TO LAUNCH. You are saying all I need are the two waypoints and it will go when I switch to AUTO? I must be over thinking it. An example program in the instructions would answer so many questions.
Did you upload your waypoints to the APM with mission planner ?
In mission planner, go to the "flight planner" tab. Enter some waypoints by clicking on the map (while connected to internet, so you have google earth maps).
Then select "write waypoints" and you should see a message showing that the waypoints are being written.
Then putting the APM in "auto" mode will start the car (be sure to limit throttle and to set THROTTLE_SLEW_RATE or it may be more lively then you'd like ;-) )
-
17
-
18
-
19
-
20
-
21
of 77 Next