[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
@Thomas,
Actually there is a Mavlink package for ROS, so the work may already be partly done (messages).
http://qgroundcontrol.org/dev/mavlink_ros_robot_operation_system_in...
I'm not sure what all it does, but it's a place to start.
Regards,
Alan
@Thomas,
I did see the Happykillmore reference somewhere. It would be good to be able to parse the Mavlink messages, but I don't yet know how difficult that task would be. Might be easier to just use an IMU. Thinking...
thanks,
Alan
@Alan,
The Mavlink protocol is open source, I believe, and DIY Drones adopted it for telemetry transmission. Previously to adopting Mavlink I think the DIY Drones was using a telemetry protocol developed by Happykillmore.
Regards,
TCIII
Is Mavlink a separate package? I downloaded a ZIP, but it's program. Not the same as MP, right?
Started to look at the documentation, TONS of stuff.
Alan
@Thomas,
So it's the same Mavlink data protocol. And did I read somewhere that they both (USB and telemetry) can't be used at the same time (share ports)?
Thanks for the link. Might suggest how to parse Mavlink messages. What are all the messages that Mavlink can send?
Found the protocol. Looks like I need to do a little reading...
Best regards,
Alan
@Alan,
The telemetry link data is the Mavlink data that comes over the USB connection other than the IR sensor data that is not present. You will have to be able to parse the Mavlink packets to use them with your ROS on the mini ITX.
There is a member who has converted the Mavlink packets with an Arduino Pro Mini for use with a Remzibi OSD: http://www.diydrones.com/profiles/blogs/using-a-remzibi-osd-with
Maybe his code and algorithms can help you code your own conversion software?
Regards,
TCIII
@Thomas,
When you use the 3DRadio for telemetry, is it new info on the MP? I mean other then what I get with a USB connection? With the proper 3.3V USB/TTL cable will I be able to see the data?
The MP protocol would be a hassle to use, maybe the telemetry info would be better. I could directly connect to the telemetry port, and feed that into ROS on the mini ITX.
Best regards,
Alan
Yeah, I can understand that. I'd rather have multiple "same" boards. I just have the APM2, which appears to work as far as the sensors go. Convenient connector for new GPS. Fairly compact. Still want to see the steering servo "track". Maybe when I've got it in a 'bot that can actually move.
Alan
Which was my thinking exactly, I have limited build/development time so I usually go with the safest technologies if I can. So far from my limited play time it has worked out well.
Roo
@Alan,
I believe that the APM2.5 configuration lets you use an external GPS without having to hack the board.
When JLN started this project, he was using an APM1 1280 of which I have several. Also, 3DR began blowing out the APM1.4 and Oilpans at reduced prices. So I figured why not go with what you know and have laying around. So far I have had great success with the APM1.4 boards and the rev H OilPan.
Just a thought.
Regards,
TCIII
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