APMRover 2, a fun UGV project for full autonomous recon missions...

[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

Hi all,

Here is a quick update till I get some time to sit down and get my stuff together for all. Basically I purchased everything that JNL used, the same Traxxis chassis, I am using the latest firmware & mission planner with the first version of the APM as I really dont like what I have read about the 2nd version too many problems for my tastes. I am using a 4600 mAH battery for the ESC and I separated out the powered to an 11.1 volt LiPo to a BEC for the APM. I will get some pictures up tomorrow, my build is not very pretty but it works, my next plan when I get back from Ghana is to refine the direction heading and clean up all the wiring.

@Thomas, I am not using anything extra at the moment but I have quite the list I am intending to add to it. I have all the hardware I just need the time now.

Humbly,

Roo

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Comments

Evaristo Ramos, Jr. November 1, 2012 at 5:18am

From reading the forums, people were having issues with the compasses reading backwards, not powering p, erratic behavior, so i figured it would be better to go with the most stable one until things get more fleshed out.

Roo
KM6VV October 31, 2012 at 9:55pm

@Roo,

What have you heard about problems on the APM2? Seems like it just came out, and they went to the 2.5, I haven't studied the changes. Maybe a convenient connector or two?

Alan
not2fast October 31, 2012 at 9:00pm

Hmm, APM 1 vs APM 2.5. Anyone have any thoughts on that?

Roo, how far were your waypoints from each other and home?

Thanks

Neil
Evaristo Ramos, Jr. October 31, 2012 at 8:35pm

Hi all,

Here is a quick update till I get some time to sit down and get my stuff together for all. Basically I purchased everything that JNL used, the same Traxxis chassis, I am using the latest firmware & mission planner with the first version of the APM as I really dont like what I have read about the 2nd version too many problems for my tastes. I am using a 4600 mAH battery for the ESC and I separated out the powered to an 11.1 volt LiPo to a BEC for the APM. I will get some pictures up tomorrow, my build is not very pretty but it works, my next plan when I get back from Ghana is to refine the direction heading and clean up all the wiring.

@Thomas, I am not using anything extra at the moment but I have quite the list I am intending to add to it. I have all the hardware I just need the time now.

Humbly,

Roo
Admin

Thomas J Coyle III October 31, 2012 at 6:43pm

@Evaristo,

Are you using the Sharp IR sensor for obstacle avoidance?

Regards,

TCIII
not2fast October 28, 2012 at 6:52pm

WAhoo2 I ran 4 different missions with the APM 2.5 today. Clean turns and even a landing. Oh yeah, it was in the plane. Now I'm going to put it all back in the Rover and see if I can duplicate the missions on the ground in shorter distances.

Congrats Evaristo, we are all waiting to hear how you did it.
KM6VV October 28, 2012 at 6:31pm

Yes!

Please share!

I'm not there yet.

Alan
Evaristo Ramos, Jr. October 28, 2012 at 5:35pm

WAhoo!! I got my little rover to successfully do 4 way points sucessfully!!! Now I need to get all my build data and stuff together to share with the group. I am using the APM 1 and oilpan setup with the latest firmware.
KM6VV October 28, 2012 at 2:01pm

Yeah, you're right. So why is it switching back and forth? And I don't have the little "icon" menu up by the connection menu that I had briefly before.

Terminal says I have "APMrover v2.20b JL NAUDIN"

Oh wait, it just came up while I'm in terminal. It says ArduRover. And I've got the rover Icon back. But I don't get ArduRover PIDs back.

This software is not predictable.

Alan
KM6VV October 27, 2012 at 7:09pm

@Thomas,

I restarted the program, hovered over the menu location with the mouse, then shifted to the terminal where the menu came up. Came up Ardurover, but Icon took a little while. Didn't wait long enough to see if PID menu would come up. Another secret reveled.

thanks,

Alan

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