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ArduPilotOne ("ArduRover") Live Test of Unmanned Ground Vehicle with Waypoint Guidance/ Gain Changes via QGroundControl / Also Hardware in the Loop via Mavsim

Posted by James Goppert on April 11, 2011 at 3:00pm

All of this is open source and freely available for download. You can find the core autopilot here. We developed it using eclipse, but the environment is fully arduino compatible as well thanks to the hardwork of Mike!
http://code.google.com/p/ardupilotone/
This repository is for rover specific configuration files and a wiki site for ardupilotone based rovers.
http://code.google.com/p/ardurover/
To run the hardware in the loop you will need the mavsim scicoslab toolbox here.
https://github.com/openmav/mavsim

ardupilotmega, ardupilotone, ardurover, hardware, loop, mavlink, mavsim, qgroundcontrol, in, the

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Comments

Junior Sammy May 27, 2011 at 12:22pm

What is the accuracy of ArduRover? Are there any test results such as how close the rc car stopped at the indicated stopping waypoint? Within 1m, 2metres etc? This info will be appreciated, thanks.
Jonathan Simmons April 13, 2011 at 4:32am

Cheers! just got it running on my nb30 netbook
Developer

James Goppert April 12, 2011 at 10:28am

My dell mini 9netbook is running debian linux, squeeze. So support for linux is well established for QGroundControl/ ArduRover/ ArduPilotOne. Right now though be sure to pull from dev-lin branch as I pushed some serial tx/rx issues, also the baudrate is hardcoded to 57600 until I have time to fix up the gui.
Stefan Barlow April 12, 2011 at 10:10am

Excellent update! I've been slowly working on my rover platform using APM for FPV and I am now ready to take the next step and load this code. I guess it is time to order that magnometer! :)
3D Robotics

Chris Anderson April 12, 2011 at 9:45am

Jonathan: That's QGroundcontrol:
http://code.google.com/p/ardupilot-mega/wiki/QGC
Jonathan Simmons April 12, 2011 at 9:26am

What ground station are you using ? As a Linux user I find ground stations are few and far between.
Jim April 12, 2011 at 3:20am

What do you think the chances are of getting this code running with the old ArduPilot board and IMUv2? I, probably like many others have an old AP sitting in the draw gathering dust now that I'm flying with an APM. I'm guessing the answer is not easily as you are using the APM libs, but here's hoping!

Jim
Developer

James Goppert April 11, 2011 at 9:28pm

That looks great Mark! I don't know if you've seen it, but there is a ROS package for mavlink, and APO speaks mavilnk, so that is another option too if you want to have an onboard ubuntu linux box. Porting APO shouldn't be too bad, I have everything abstracted as much as possible, for instance no calls to Serial.print. Everything goes through the hardware abstraction layer class.
Developer

Mark Colwell April 11, 2011 at 9:17pm

James Congratulations!

I will try to port over ArduRover to my new MultiPilot 32 with a few cores running OpenTLD for vision assisted guidance, with 2 or maybe 4 cameras. Chassis is a mobility GEO_Chair, designed carry a person. It folds up and fits in a trunk too.
Developer

James Goppert April 11, 2011 at 8:22pm

Yes, this is the ArduRover code, which is based off of ArduPilotOne. As of now ArduRover is just a config file for ArduPilotOne. This is using the standard APM + Oilpan hardware. We are using a 900 Mhz Xbee. Also, the power jumper SJ1 has to be unsoldered to allow the board to be powered off a separate (11.1 V) 3 cell LiPo. It looks like 3-4 of us will be piling in for the 18 hour drive to Boulder, See you all there!