[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
ublox
Gogu: What GPS are you using?
ok. i conected gps. and the same.. connect failed... but in terminal FC comunicate and in test/gps section it returne G!G!G!G!.G!G!G!. till it retun OK and current location Lat: xxxxx Lon: yyyyyyy Alt:zzzzz #sats: x ... so.. GPS is not the problem.
Gogu: It's a bug with that version of ArduRover that will hang if you don't have the GPS connected. It's fixed in the more recent versions, which will be released in the MP soon. In the meantime, plug in your GPS and you should be fine.
I have 2.20b.
@Gogu,
Use the Terminal CLI and determine that you indeed have v 2.20b loaded in the APM2.5. I am using an APM1.4/Oilpan with version 2.20b and I have no trouble Getting Parameters with the MP.
Regards,
TCIII
Please help me out with connection of APM2.5 with ArduRover? 2.2 (loaded directly from Firmware tab from Mission Planner). After flashing it to controller when I try to connect it stuckes at Getting Params .. (sysid1 initid1).. afret 10-15 seconds it tells me Connect Failed with this details : Timeout on read - getparamList 61(differs some time) Packest where received, but no paramater (lol) packets where received ... and a lot of other stuff... But, when i flash arducopter soft.. it works ok without any problem. so, as i think... is an issue with ardurover software, or please advise how to make it work.
@VU2ATX,
My 6WD skid steering rover does exactly as you describe when I use the MINDS-i Arduino UNO obstacle avoidance system. I plan to experiment using both the APM rover IR sensor and the MINDS-i obstacle avoidance system. The MINDS-i system will only take control of the rover if there is an obstacle in the rover's path. Otherwise the APM/Oilpan provides the steering and throttle commands. This is somewhat more sophisticated than just using the Sharp IR sensor for avoidance.
Regards,
TCIII
I have observer another issue and that is in auto mode, when I am manually bringing obstacle infront of the IR sensor, whose trigger distance is set for 60cm, the rover must stop, and should scan the area in front, may be from left to right and then move with appropriate steering movement given to the servo, accordingly where it sees no obstacle. It should reverse also if it observes obstacles during the scan.
@VU2ATX,
This sounds like an issue that may be corrected when Tridgell overhauls the code. It could be that some of the work that he has already done correcting parts of the code has corrected this issue. I guess that we will have to wait until Tridgell puts an updated version of the ArduRover code in the Wiki download section.
Regards,
TCIII
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