Its Christmas! Rover Release v2.50 is OUT!

Christmas already?  Yes, yes it is with the brand new state of the art code thanks to the huge effort by the ArduPilot development team and some great contributions from the community.  GO ROVER!

The ArduPilot development team has released version 2.50 of APM:Rover. This release is mostly a back-end improvement to ArduPilot but a few new features and bug fixes are included.

Re-do Accelerometer Calibration
Due to a change in the maximum accelerometer range on the Pixhawk all users must re-do their accelerometer calibration for this release.

Only 3D accel calibration
The old "1D" accelerometer calibration method has now been removed, so you must use the 3D accelerometer calibration method. The old method was removed because a significant number of users had poor experiences.

Changes in this release are:

  • CLI_ENABLED parameter added so the CLI can now be accessed in Rover
  • PID logging for the steering controller. It its now possible to graph what the P, I and D are doing as your driving the rover around to enable much better tuning of the vehicle.
  • Transition from .pde file to .cpp files for improved development.
  • GIT Submodules created for PX4Firmware, PX4Nuttx and uavcan git repositories for improved development.
  • Followme mode now works for Rover
  • GUIDED mode significantly improved. If you have a GCS which is in Followme mode if the user then changes mode with the RC transmitter to HOLD or anything else then the Rover will STOP listening to the
  • Followme updated guided mode waypoints.
  • When going into GUIDED mode the rover went into RTL - this is fixed.
  • Added EKF_STATUS_REPORT MAVLink message
  • 64-bit timestamps in dataflash logs
  • Numerous EKF improvements
  • Added support for 4th Mavlink channel
  • Added support for raw IMU logging
  • Updated Piksi RTK GPS driver
  • Improved support for GPS data injection (for Piksi RTK GPS)
  • The SITL software in the loop simulation system has been completely rewritten for this release. A major change is to make it possible to run SITL on native windows without needing a Linux virtual machine. (thanks Tridge)


Views: 999

Comment by Thomas J Coyle III on June 19, 2015 at 4:34am

Hi Grant,

Nice work, much appreciated.



Comment by Paul Hammond on June 19, 2015 at 7:43am

I would love to try Rover as a automated lawn mower, driving waypoints rather than the randomness used in the shop brought lawn mowers.

Comment by Jason Popillion on June 19, 2015 at 9:34am
I'm interested in trying the same thing Paul it's the next step in automated mowers. GPS waypoints with geofencing.

Comment by Hugues on June 19, 2015 at 10:57am

great! thx

Comment by Grant Morphett on June 19, 2015 at 2:59pm

Paul and Jason, checkout the Rover forums.  People are doing exactly what your after!

Thanks, Grant.

Comment by uavfans on June 19, 2015 at 11:51pm

Is Piksi RTK GPS ready for using?

Comment by Grant Morphett on June 20, 2015 at 5:23am

Yes the Piksi should work.

Thanks, Grant.

Comment by Paul Hammond on June 20, 2015 at 1:04pm
Hi grant. By any chance you have a link to the forum? I looked on but couldn't see anything?

Comment by Grant Morphett on June 20, 2015 at 9:39pm


There was another one with some photo's the person produced showing photo's of their mower but I couldn't find it.

Thanks, Grant.


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