ArduPilot Rover Setup & Tuning Wizard

A Textual TUI wizard that talks MAVLink to an ArduPilot Rover and walks through setup, calibration and tuning step by step with the ability to autoprobe various settings. Click "❓" next to any step or field for help.

Features

• autoprobes various settings (e.g. MOT_THR_MIN, GPSx_TYPE, ATC_SPEED_MAX, TURN_RADIUS, PID parameters etc.)
• realtime monitor for RC-Channels, Servo outputs, Accel, Gyro, relay states
• adjust arbitrary servo's PWM to verify connections
• set/get parameters from commandline with wildcard support (e.g. rover-wizard --param ATC_SPEED_*)
• parameter view to list/edit all parameters
• extensive documentation built into app
• works with current vehicle settings or after factory reset
• backup/restore current FC parameter config
• show/undo parameter changes

Install

Inside the project directory run:

python -m venv venv
. venv/bin/activate
pip install .

to use a venv or install systemwide with

pip install .

Run

rover-wizard --help
usage: rover_wizard [-h] [--version] [--conn CONN] [--baud BAUD] [--demo] [--demo-skid] [--demo-boat] [--demo-sailboat] [-p NAME[=VALUE]]

ArduPilot Rover setup & tuning wizard (Textual UI)

options:
  -h, --help            show this help message and exit
  --version             show program's version number and exit
  --conn CONN           MAVLink connection string, e.g. /dev/ttyACM0, udpin:0.0.0.0:14550
  --baud BAUD           serial baud rate (ignored for UDP/TCP)
  --demo                use a simulated front-wheel-steering rover
  --demo-skid           use a simulated skid-steering rover
  --demo-boat           use a simulated boat with rudder and motor
  --demo-sailboat       use a simulated sailing boat with a motor
  -p, --param NAME[=VALUE]
                        print a parameter (NAME, or a pattern like 'SERVO1_*') or write it (NAME=VALUE), then exit without the UI; repeatable, handled in order

e.g.

rover-wizard --conn /dev/ttyACM0 --baud 115200

or, without installing:

pip install -r requirements.txt
python -m rover_wizard --conn /dev/ttyACM0 --baud 115200     # or COM5, udpin:0.0.0.0:14550, tcp:127.0.0.1:5760
python -m rover_wizard --demo            # simulated front-wheel rover, no hardware (try the UI)
python -m rover_wizard --demo-skid       # simulated skid-steer rover

If --conn (or --demo) is given, the wizard connects immediately; the connect screen only stays up if that attempt fails. The connection auto-recovers if it drops (e.g. a TCP link resets) - the status bar shows "reconnecting ..." until it's back.

--param or -p let's you read/write parameters from the commandline without TUI.

Usage

Setup phases

1. Bench setup - vehicle disarmed, can be done indoors
2. Drive & tune - vehicle armed, needs open space
3. Wrap-up - finalize setup

Every phase consists of several setup steps. Navigate them in the treeview or using the "Back", "Next", or "Skip" buttons. Settings and measurements are stored in a vehicle_<sysid>.json, so you can stop anytime and continue later. Every step where the vehicle moves lets you choose automatic (wizard drives) or manual (you drive, wizard records).

Optional Hardware

The first step has a checkbox for each piece of hardware ArduPilot Rover can do without. Just check every hardware that is present on your rover.

Automatic probes

Several settings have a Probe button for autoprobing. Press to try autoconfiguration. The "❓" button displays a help text describing what will be done and what to take care for.

Live panel

Below the step list, there is a monitor section:

• RC channels shows a bar for every channel your receiver delivers that is updated in realtime.
• Servo output shows the state of each output. You can change it by pressing the +/- buttons.
• Compass stripe compass shows current heading
• Accel shows current accelerometer output
• Gyro shows current gyroscope output
• Relais shows current state for each relay if present (click to switch)
• Barometer shows current barometer output

Parameter screen

Pressing Ctrl + p (or clicking ^p parameters in the bottom menu) will open a complete, searchable list of parameters:

• Double click a row to edit the parameter.
• Press Backup to save all parameters to a file.
• Press Restore to restore parameters from a file.
• Press Esc to exit the parameter screen.

Tests

pip install .[test] pymavlink textual      # pytest plus the libraries the tests exercise
pytest                                     # from the project folder

The tests run without hardware: a physics simulator stands in for the vehicle, a small fake autopilot built on pymavlink checks what the wizard actually sends over MAVLink (UDP on localhost), and the real Textual UI is driven headless with Textual's test pilot. Set ROVER_WIZARD_SCREENSHOTS to a folder to keep a text screenshot of every step.

Disclaimer

This is a vibecoding experiment designed & created by an LLM using carefully written prompts ("You sure can hydrate a pizza, mom!"). Most of the code was read by a human and all changes (human or AI) are recorded in the git history. There's a checklist that lists, which functions haven't been tested by a human, yet. Please feel free to contribute if you tested something (un)successfully. The checklist will be removed when everything has been successfully tested once.

WARNING!

This software configures a vehicle that can move on its own: test every setting with the wheels off the ground or in a safe, enclosed, obstacle fee, flat area and keep your transmitter and the STOP button at hand. Review what the wizard changed before relying on it. It has been verified with a simulator, automated tests, and on real hardware but there can and will be bugs. Please take extra care to prevent harm in the case your vehicle acts erratic.