Working on the next revision. Here's what's coming:
- Moving imu and baro calibration to the arming sequence, anything else?
- Simple mode with alt hold?
- Tridge's max motor fix for Hexa's and Octa's
- A new Octa setup from Hein for better performance.
Please fire away with any suggestion or issues. Mostly looking for fixes and improvements to existing features so we can finalize this version of the code and move to the next generation.
What's done so far.
todo move ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
lowered NAV_LOITER_P to 1.0
increased NAV_LOITER_D to .6
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
added MA filter to PID - D term
decreased Nav_WP_ kI term
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.
Enclosed is where I'm at so far. This is fly
Would moving the IMU calibration mean you have to keep the copter still when arming instead of at powerup - and keep that in mind every time you disarm and plan to arm it again? What if you wanted to arm it and launch when holding it in your hand?
Does alt hold currently control the copter like it's flown in stabilize mode? How about loiter - when do you fly the copter and when "the compass", so to speak?
Is it posible to upload this versions also to the download section, because I allways upload it with arduino and not with the mc
Ah ok thx, that´s nice. I don´t want to install an SVN Client, it´s enougt if I get the beta version. Do not need eavry snv state ;-)
I have been testing 2.0.37 over the last few days. Stabilize and simple mode worked awesome. During Althold I noticed a few motor burst but it kept its altitude alright. I think the bursts were due to the wind. Loiter worked ok with default PIDs. it stayed within a radius of about 2 meters. This can probably be increased by tuning the PIDs.
After all, I changed from 2.0.33 to 2.0.37 and noticed a big step toward overall stability. Thank you for doing such a great job.
I think doing the imu and baro calibration during arming is a good idea. I didn't check if also done but setting the home location during first arm might be good as well, I have noticed that the first few fixes aren't that great.
I didn't get around to check but was there an issue with alt hold in auto mode between to waypoints?
Keep up the good work and thank you very much,
My suggestions :
1) On low battery, only let the copter go into RTL when in "automatic" modes. Maybe it's even better to let it land itself instead of trying to make it back with no juice left ?
2) Blinking leds on low battery ?
3) How does the rate approach work for slowing the copter down when approaching a waypoint ? Mine still overshoots largely. Should I just increase rate P ?
AC2 has had motor led support on AN pins since 2.0.16, right? There could easily be an option to make them blink on low battery.
I'm also in for points 1 & 2 !!!
I for one would enjoy Alt-Hold in Simple mode. Please do!
Alt-hold in simple mode would be very cool! I am also very excited to see the optical flow sw coming in. I could see a very neat 'low alt survey mode' where we could set alt hold at a meter or two and use optical flow sensor for a beeline between waypoints - one could survey rough terrain or mountain sides close up very accurately.