[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
Hi I'm just signing in; I just just discovered what I'm looking for ! In fact I working (very slowly) on a robot laxn mower; So far it's navigation is really basic : based on US sensors, burried wire .. A much more sophisticated navigation system would greatly improve it's efficency; So far, I read from internet that GPS alone won't be enough accurate, RTK would be the minimum to add.But what is the accuracy of the ArduRover ? below the meter, below 10cm ? I haven't found so far the answer
Hola a todos, gracias por aqui ESTAR, Soy nuevo en el Grupo y Conozco Poco de ARDUROVER, mi interes es diseñar pecado vehiculo Que SIGA UNA LISTA de waypoints, Pero que ademas pueda Con otro modulo ARDUINO a bordo, PODER Tomar Datos de Sensores en el campo y enviarlos vía GPRS, serian tan amables de guiarme en Poder de COMO Tengo Que Comenzar, La Verdad Necesito Mucho me ayuden, y me digan Que modulos utilizan y de interconectarlos COMO, ASI Su programacion y firmware.-Los saludo Atentamente Esperando Una Respuesta Positiva, muchisimas gracias -. SALUDOS!!. -
Alan: No, the GPS firmware is loaded at the factory.
@Chris,
The MP or APM2 downloads firmware to the uBlox?
Alan
Gogu: That's your problem, then. We use custom firmware on our GPS. Sounds like the more recent code supports yours anyway, and since the new ArduRover code is based on the latest ArduPlane/Copter code, it will probably work for you, too. You might want to take Tom's advice and try the 2.30 alpha code. Remember to uncomment the line in the APM_Config.h that tells it you're using APM 2.x:
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
Gogu: This uBlox? I just tried on APM 2.5, and it recognized it right away (you can see it report "uBlox" in the MP monitor window.
@Gogu,
Try loading the v 2.30 alpha that I have in the comments section of the ArduRover User Group. You will have to use the Arduino IDE to load v 2.30 alpha as the MP cannot access it.
Regards,
TCIII
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