[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
I agree with Alan RTFM :P I know there are a few things missing but for the most part its all there. Here goes a super simple list of what I did.
1. Buy/acquire all the parts
2. Download all the software
3. Modify my rover chassis and mount all my equipment
4. Recheck all my equipment.
5. Modified my RC transmitter
6. Manual drive of the rover
7. Verify GPS gets lock
8. Download waypoints and test it in auto
Humbly,
Roo
I've got an APM2, but I haven't ran it in my 'bot yet.
Ardurover
Follow ALL of the instructions!
Alan KM6VV
@Joonching,
I wish that I could help you, but I have only worked with the APM1.4/Oilpan. I believe that the ArduRover Wiki has instructions on setting up the APM2.0 so you might look there. If you are not already a member of the ArduRover User Group, you might like to join and pose your support request on the User Group Discussion Forum. I do not believe that many members check this discussion very often.
Regards,
TCIII
I can send pictures and everything.
Can anyone help me (pretty much walk me through step by step) connect an ArduPilot Mega 2.0 board to my Rover? Pleeeeease~~~? :D
Eventually, I would like to be able to move the Rover using the GPS through mission planner used in this experiment!
Roo
How big was you mission path/pattern? 100 feet, 30 meters, etc. Just for reference. I've Run a mission in a parking lot about 50 feet square and the path was very rounded. I'd just like to have a perspective of what you got to work. Maybe I need to try a football field.
Thanks
Neil
Yes for the ones that I did in the MP, I let it do like 4 circuits of the way points, which came out to be basically a rounded square, I think due to GPS drift off the box kept moving south for me. but I was basically pleased that it more or less did what I had intended for this particular test. On the test that I tried in learning mode I am not quite sure it recorded but I know I need to recalibrate my switches which is something I didnt do since I re-uploaded the firmware on the fly when I was testing.
Roo
Hi Roo,
Thanks for the response. Much appreciated.
I assume that the beginning and ending waypoints had the same lat and lon? Did you assume Manual control at the end of the last waypoint?
Regards,
TCIII
I used the MP to do my waypoints, I tried a couple of times using the learning mode but Im not quite sure it did what I wanted as it was a very quick test (timewise). I know I have some work to do with the mounting of the APM 1.4 as my compass is not reading properly. I am hoping my next time off from work I will be able to get up all the information. I just arrived in Ghana and will be here for a few days and then off to the gulf of mexico for my normal 28 days. On a side note I did get my Shapeoko CNC mill 85% put together :) I was able to test it with a marker but the image is backwards so I have to fix that. Next major build will be the 3d printer then I will be able to get back to the rover with the ability to make any parts I need.
:)
Roo
@Evaristo,
Did you use the "Learn" mode to establish your four waypoints or did you pre-program them with the MP?
When are you going to get all our build data and stuff together to share with the group?
Regards,
TCIII
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