APM2.8 Rover Automatic cruise vehicle design (firmware installation and setup)

1.2 APM2.8 Software Installation and firmware download
Download Mission Planner This ground base station software, described here is the Windoews platform, under the Mac or Linux can use the Qgroundcont based on QT programming ground station software, most of their functions are the same.

Mission Planner1.3.3 is installed, it is recommended to use the installation version of the Missionplanner, which is the MSI suffix name, so that the driver can be installed automatically, eliminating the hassle of manual installation. Connect your APM2.5 to your PC with a USB cable, choose the right COM port, make sure the serial baud rate is 115200 (specific consulting merchant, Ken can be different). It is now possible to download firmware ardurover to APM2.5. To download the firmware, first disconnect the APM connection and click Installfirmware to get the firmware list. We choose to have the car icon, you can see the current firmware version is V2.5. The firmware will be downloaded automatically. Here is possible to download to the APM firmware failed, my computer will show the link failed, I just change a computer, it may be a system problem. Latest Version mp:http://ardupilot.com/downloads/?did=82

Baidu Network disk: Http://pan.baidu.com/s/1ntNUIox#path=%252F

APM/PIX4 Data Summary connection address: http://www.amovauto.com/?p=101#more-101

The installation is successful as follows:

Figure 2.1 Firmware Installation Interface

After the firmware is downloaded, click the "Connect" button in the upper right corner to connect the APM2.8 via the Mavlink protocol. (Note that the connection to the Mavlink can not load the new firmware, to disconnect the load of the new firmware), the connection after the successful switch back to the configuration interface. After the firmware update is complete, connect APM2.8, via COM port, baud rate 115200. Please make sure the remote control, GPS, etc. are in the connected state. To calibrate the rover with the ground station, the APM Control Board will work correctly. When the remote control is calibrated, the compass is calibrated, the cruise mode is set, and the basic parameters are set, make sure that the cruiser motor is not power-up or that the cruiser is in a wheel-suspended state to prevent accidental occurrences.

• Remote Control Calibration

APM2.5 connect the USB and RC connections to the appropriate hardware interface, after opening your RC remote, if you push the lever, if APM has a signal received, those green scrollbars will scroll accordingly. If you do not scroll, please check the following:
If you see a red vertical bar, your RC remote is not powered on.
Two If the reception is not lit, check that the wiring is correct and the line is plugged in.
Three If the received green light is on, APM2.5 has already received the ground station, or cannot move the scroll bar, please re-click the Calibrate radio button.

Figure 2.2 Remote Control calibration interface

• Compass Calibration

Compass calibration is relatively simple, pick up APM flight control, click on-Site Calibration button, in all directions, keep rotating, until the space coordinate system of the different colors of the dot fill the whole coordinate system, point cloud filled with a ball, you can stop, time spent 1 minutes to 3 minutes, their own grasp.

Figure 2.3 Compass Calibration Interface

• Cruise Mode selection Settings

Figure 2.4 Cruise Mode settings

In the vehicle's firmware, there are a total of 7 modes to choose from.
Auto mode: Auto mode in this mode, the cruise car will be based on the waypoint set in the ground station, automatic cruising, the accuracy of cruising and GPS signal accuracy.
RTL mode: Auto return mode, this mode first cruise car will be automatically returned to the "home" location, the ground station can set home location.
Learning Mode: Learning mode, this mode, the cruiser will remember the current GPS information as waypoint.
Manual mode: Manual mode in this mode, the use of remote control.
The above is a few common patterns, in the above hardware connection 1.3 diagram, you can see that the remote control receiver 5,6 Channel connected to the APM Controller Board 7, 8 input port. So the 5,6 channel of the remote control is used to switch the cruise vehicle mode, this time if the remote control is connected, toggle the remote control 5,6 channel can see the corresponding mode switch in the ground station. Then click Save, the APM Control Panel is set up, the mode toggle button.
Hold mode: The cruising vehicle will remain motionless in this mode.

• Basic parameter Settings

In the basic parameter can be seen, set some basic parameters, cruise speed, throttle ratio, PID parameters, these parameters and your hardware and installation methods have a great relationship, there is no definite value, more cruise car specific circumstances to adjust.
After the adjustment, click, write the parameters can be.

Figure 2.5 Basic parameter settings

• System inspection and commissioning (ensure that the steering servo has been power-on, the motor has been connected to the control Board, the system light is working properly)

One. Toggle the remote control throttle and steering lever, the drive motor and the steering gear should work normally.
Two. Access the USB or digital transmission module, the fluctuation cruise mode Select the gear switch, in the ground station HUD interface can see the corresponding mode switch display, as shown in:

Figure 2.6 HUD Display

This HUD interface can be seen in the current hold mode, is the stop mode, because the current GPS signal is not good, so the APM Control Board automatically switch to this mode. At this time, toggle the remote Control 5,6 Channel Gear switch, you can switch to just a few of the selected mode. You can see that the toggle of the mode and the APM dashboard perform different actions.

• Check the parameters of the ground station to show whether the GPS is accurate positioning the number of satellites, HDOP value is within the appropriate range, generally between 1 to 3, more than 3 is the GPS signal is not good, Hdop said GPS accuracy factor value the smaller the higher the GPS accuracy. Turn the car body, the map on the front pointing whether the change is correct. If the GPS Beacon is successfully positioned, the GPS signal light on the control Panel is always stable and blue, and if the GPS is not positioned successfully, the GPS signal light will blink continuously.

Figure 2.7 GPS Signal strength

See to see the current GPS search star number is sats:4, hdop:3.7.

• Access to WiFi digital transmission

Access to the WiFi digital module, you can also access 433 digital transmission module, WiFi digital module to be cheaper. Disconnect the APM Control Board from the PC and connect to the WiFi digital module.

Figure 2.8 WiFi Number Transfer access

Switch the connection mode to the TCP connection, without the setting of the baud rate, click on the connection, the next interface will jump out of the input IP address, when the module is in AP mode, laptop wireless network card, to access WiFi digital network, to ensure that the laptop wireless network card access to the WiFi module, Enter the IP address of the module in the pop-up interface, IP address and port to see the WiFi module instruction manual, but also to ensure that the WiFi number of IP address and PC network card IP address in the same network segment.

Note: If the Autopilot board USB interface has been connected to the PC side, the number of the Board interface is no data, in the access to WiFi and 433 digital transmission, please ensure that the USB interface disconnected.
The above is the basic software settings in accordance with the above article written to set up, six-channel remote control can be controlled car, if you find the remote control rocker direction and the car moving in the opposite direction, please modify the corresponding hardware connection.

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APM2.8 Rover Automatic cruise vehicle design (firmware installation and setup)