[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
@Antonie,
What Arduino IDE are you using? Try using IDE 1.00 relax.
Regards,
TCIII
JLN, the pic of the drone in your profile - what is it? I've seen it somewhere else as well....on the diydrones mainpage in the slideshow. Is it a custom build?, do you have plans?
It looks awesome - i want one.
JL, that looks great. A few questions:(Sorry if I cover previous topics)
1. The steering mechanism - can it stear a tracked rover since the mag. is out?
2. Related to top - can you detect in place direction changes?
3. Do you have or foresee any sensory and behaviour expansion - cliff detection, obstacle avoidance ect?
Another off the topic - I'm unable to compile the latest ArdupilotDev. I used the standard arduino IDE(1.0.1), copied over the libraries and get a whole wack of verify(compile) errors - mostly around the flashdrive and zero_air_speed not defined. What am I missing, buddy.
You have done a great job. I cant wait to get my rover going, thanks for sharing. I dont think the ardupilot team realises how wide the impact of your open work is. Thanks.
Antonie
@Chris
Hi Chris,
Technically you only need four channels from your R/C receiver to control the a rover with an APM. Two sticks (or variable controls) and two switches (or discrete controls) one switch is a two position switch used to perform waypoint operations and one needs to be a three position switch used to control the mode of operation.
Two stick channels are used to control the rover through APM channels 1 and 3. It doesn't make any difference what you stick channels use here, its really just up to personal preference. In actuality the APM controls the rover through what it thinks is the Roll and Pitch channels. What the APM thinks is Throttle is not actually used by the rover as set up by JLN.
The correct set up of the two switches though is not only important but mandatory for proper operation of the APM.
Your 3 position switch goes the APM channel 8 input and your two position switch goes to APM channel 7 input. Not only do your switches have to go to the right channels but the correct pulse widths have to be represented by the switch positions. This is not generally a problem, but if it is, you may require some code tweaking to fix. It's possible to fix it in the transmitter too of course. It all depends where your skill set is at.
With regard to using the rudder stick as a three position switch. It's doable I guess. You would just plug the rudder receiver channel into the APM channel 8 input. Then hold the rudder stick left, center or right for the desired mode.
With regard to using a two position in place of a three position switch. It's possible, but it depends on what PWM values your transmitter puts out with respect to each position. It might require some code tweaks. I guess the quickest way would be to try it and see what the APM does.
Hope this helps
-Rich
u4eake --- I think you are assuming that I know more that I realy do. I can understand how the rudder stick could be used as a three posit switch (Left-Center-Right). The problem is that I don't know how to implement that. Should I simply plug the rudder channel in to APM 8? Or keep it simple and use my 5th two posit switch for Manual/Auto. ( is any tweak to the code required?)
@ John H --- Are you steering me toward Jean-Louis's Radio set up? If so, I don't get it. Jean-Louis has an 8 channel radio. What are you trying to show me?
Please don't mistake my fustration for rude sarcasm.
What's keeping you from connecting mode and option to channel 3 and 4 of your receiver ? Nobody says you can't use rudder or roll stick instead of a switch. If your radio is programmable you might even be able to assign a mixer to channels 3-4 and get the switch action that way.
See page 2 of this thread.
Hmm, so I think I do need a 6 channel radio. Where chans 1 & 2 are use for steering and throttle, chans 3 & 4 are not used and AUX chand 5 & 6 are used for OPTION and MODE.
Is that right? If so I need another radio. dang it.
Chris, you only need 4 channels, but then you have to wire them correctly The inputs you need are throttle, steering, option and mode.
You could also do without a 3 pos switch. Then you'd only have manual and auto mode, no learning, so you'd have to use mission planner to put waypoints into the apm.
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