APMRover 2, a fun UGV project for full autonomous recon missions...

[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

Views: 66849

Tags: ARDUPILOT, AUTOPILOT, DRONE, UAS, UAV, UGV

Comment by Anish on May 10, 2012 at 4:20am

@petrus dont laugh, i cant drive so i tend to carry my "rovers" around. BTW i have a baja, so noise is something i am very familiar with ( and upsetting neighbours). Hence the reason to do an electric conversion...

Comment by Petrus Botha on May 10, 2012 at 7:31am

I have just done a live run with my Rover. APM 1280 with APMrover2_firmware (version b), Xbee 900Mhz telemetry enabled, compass enabled. Everything went well. Uploaded way points and did an auto mission. Only issue is that the rover does not return home. If I set waypoint file in APM Planner the rover will continue on its mission up to the last waypoint, turn around and trace back to point 1, not home. turn around again and follow the mission up to the last point. Is this the ROV_CL_NAV setting to place it in a closed loop? Should the Rover not return home when the last waypoint was reached?


Developer
Comment by Jean-Louis Naudin on May 10, 2012 at 7:48am

Hello Petrus, Congratulations for your successful tests of the APMrover v2.

If the ROV_CL_NAV is set to 1, when the APMrover runs the last waypoint it goes to the 1st wp of the list and continu the autonomous navigation in closed loop. If the ROV_CL_NAV is set to 0, when the last wp is done,  the RTL mode is set and thus the APMrover back to home...

Ps: have you done a video of your APMrover  test ? I shall be very interested to see it...

Regards, Jean-Louis


Developer
Comment by Jean-Louis Naudin on May 10, 2012 at 7:52am

Hello Petrus,

I have also forgotten to say that if the ROV_CL_NAV is set to 1 (the closed loop navigation mode setup), if you APMrover is set in AUTO mode and if you switch ON then OFF the SW7, the RTL mode is launched and thus the APMrover back to home...

Regards, Jean-Louis

Comment by healthyfatboy on May 10, 2012 at 8:17am

Jean-Louis,

I thought I saw somewhere that when in AUTO, you still have control of the vehicle if you need it. Is this correct? From my quick test I did Monday, I could only slow the truck down but couldn't do anything else in AUTO.


Developer
Comment by Jean-Louis Naudin on May 10, 2012 at 8:21am

Hello To All,
To summarize the APMrover v2.0c firmware features and commands:

I assume that a 3 positions switch is linked to radio ch 8
and that a 2 positions switch is linked to radio ch 7

The mode sets are:
- MANUAL (higher position)
- STABILIZE (middle position)
- AUTO (lower position)

on ch7: a two positions switch for the SAVE_WP, CLEAR_WP and RTL
on ch8: a 3 positions switch for the mode (MANUAL, STABILIZE, AUTO)


Here some details and how to use the switches:

- in MANUAL mode: you can drive your rover fully (wheels to left, right and throttle forward, backward)
if the SW7 is set to ON then OFF, this CLEAR the waypoints list in memory.

 

- in STABILIZE mode: you can drive your rover fully (wheels to left, right and throttle forward, backward) too.
if the SW7 is set to ON then OFF, this STORE the current GPS position as a new waypoint in memory.

 

- in AUTO mode: the rover follows automatically the waypoints lists stored in memory, if the SW7 is set to ON then OFF, the rover goes back to home (RTL mode is set). To take control of the rover, you need to switch back to STABILIZE or MANUAL mode.

 

A waypoints list can also be generated with the APM mission planner as a flight plan (like it is done with the arduplane). To use the APM mission planner, choose ArduPlane and set COM to 115200 bauds

Below the APMrover parameters which can be changed with the mission planner:

  • ROV_AWPR_NAV: if set to 1 its allow the automatic Wp radius calculation relative to the ground speed.
  • ROV_GAIN: need to be set to about 5 so as to increase the gain of the wheels servo.
  • ROV_CL_NAV: if set to 1, allows a closed loop navigation.

Have fun with the APMrover v2.0c...

Regards, Jean-Louis
 


Developer
Comment by Rob_Lefebvre on May 10, 2012 at 8:27am

JL, could you please change the name of the second function from "Stabilize" to "Learning" or "Teaching"?  I think either is more indicative of what the function is actually doing.  Though I supposed this will require an update to the MP software, otherwise it will still say "Stabilize".

So, probably something to do for the future.


Developer
Comment by Jean-Louis Naudin on May 10, 2012 at 8:36am

Hello Robert,

The name STABILIZE is fully dependant of the APM mission planner so as to be compatible with the current Arduplane profile. This why it is named STABILIZE here in the APMrover... May be if Michael creates a new profile of the mission planner dedicated to the APMrover, it will be possible to name this current mode as the LEARNING or TEACHING mode...

Regards, Jean-Louis


Developer
Comment by Rob_Lefebvre on May 10, 2012 at 8:48am

Yes, I realized that as I was typing it....  Have you talked to Michael?

Comment by healthyfatboy on May 10, 2012 at 8:49am

Okay, that helps. Post 16 said you had control in AUTO as well and that is why I was confused. Thanks for the clarification.

Any advice on ROV_NUDGE?

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