[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,
In case of Arduplane, if no waypoint is set then entering the plane in auto does an RTL, I mean the plane simply comes to the launch and loiter however it still displays "Auto" in the mission planner. Means it assumes Home as the only waypoint, however same is expected from ArduRover, which it is not doing.
"I have tried the auto mode without waypoints and the APM appeared to do nothing for a few moments and then the mode changed to manual" This what I am observing"
What ever you have observed, is what I have been observing, means you can never ever enter into Auto mode by any means if no waypoint is set.
For me on the APM 2 with 2.20b it freezes and I have to go reset the board if no waypoints are loaded when I switch to Auto.
Same behavior with APM2.5 if no waypoint loaded, a couple of second of nothing and then switch back to Manual
@TJCIII
changing back to manual sounds like it should work.
If i previously setup my APM and change to auto-mode via my transmitter without loading waypoints previously, apm simply resets and goes through initialising just like when u power it up.
You can see the LEDs blinking on the IMU if you use one.
I have connected a beeper on one output channel so i would hear it beep if the initialisation is done (on arduplane the ailerons will wiggle).
Regards,
Linus
@Linus,
Please describe the symptoms of a reboot. I have tried the auto mode without waypoints and the APM appeared to do nothing for a few moments and then the mode changed to manual.
Regards,
TCIII
Hi,
i can confirm the reboots without waypoints loaded.
i have tested several versions from 2.16 to current 2.20b with Full (apm+imu) and with the "LITE" (apm+mag+gps) setup and they all do reboot if no waypoints are loaded.
I am using old APM (APM 1, APM1.4) because i do not have newer 2.5 apm.
Regards,
Linus
@VU2ATX,
I have APM2.5 with FW 2.20b modded for Boat and I dont have reboot if I switch to Auto with no waypoint loaded.
@VU2ATX,
I have not really run the ArduRover code in auto with no waypoints. Since the code is expecting to execute waypoints when put in the auto mode, maybe a reset is normal behavior if there are no waypoints loaded? It could be that the ArduPlane/ArduCopter code is more up to date than the ArduRover code. Tridgell has indicated that the 2.20b code is outdated and does need to be upgraded.
Regards,
TCIII
Thomas, I am sure you would also be able to simulate this problem of APM getting rebooted in Auto mode when no waypoint is set.
Just for confirmation, I have repeated my iteration 20 times and I got results as I mentioned above. This means there is a bug in ver 2.20b.
Hi Thomas & Flavio !
I am using the latest Ardurover firmware via Mission Planner means 2.20b
My problem is resolved when I set some waypoint, no rebooting by both the boards :))
Simulated the problem again by deleting all waypoints but home was set and the problem of rebooting again came when auto mode is entered either via transmitter or via command from Mission Planner.
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