If anyone has any issues or logs to analyze please post them here. I've also updated the Wiki to detail out all of the AP mission scripting commands. If any command doesn't work as expected please post that here as well.
You can also post issues to the Bug list here: http://code.google.com/p/arducopter/issues/list
BTW, I just updated the Firmware version so settings will be cleared. You'll have to redo the level, radio, compass, etc for this version. This is to ensure no bad EEPROM values cause conflicts in flight.
There was a known bug I just discovered and fixed in that version that could cause Simple mode to not take effect, leaving you in standard mode. Would that explain it?
I was standing about 20 feet to the right of the yellow takeoff point (directly east) I started simple mode after I disarmed, then armed, copter with it it pointing directly west. I ran in simple a bit to make sure it tracked right and it moved correctly, It went as expected (i.e. move stick forward and it went west even if not pointing directly there). I did not try a 180 spin, though. I then selected AH + simple mode and the altitude hung in just great. Yes, it did go to my right (north) when it took off after I yawed it 180. It was a very obvious radical shift in the normally docile hovering.and the lack of throttle response seemed really weird.
My prop is now changed and I am dying to have more fun tomorrow!
Perhaps a cool enhancement would be to implement Position Hold (new), Alt Hold and Loiter. Position Hold would be the same as Loiter except with manual throttle, Alt Hold is the same as now and Loiter would be Loiter without manual throttle. I saw in the config that you can enable manual throttle for Loiter, but it would be nice to have both. I am going to try to implement this myself and see what happens *fingers crossed*. But I thought I would shoot it your way as well so if it is done, it is done right :-)
I am confused. I thought Loiter has manual throttle? Meaning you have to maintain altitude and the copter trys to remain on station using the GPS. In Alt hold there is no GPS just sonar and baro if configured to maintain a stable altitude with little adjustment. Perhaps you mean a new mode which combines the Alt hold and loiter i.e fixed height/altitude and held on station by GPS? I found in my loiter test last weekend with 2.0.45 the quad just kept descending unless I input more throttle. i.e sonar and baro are inactive in Loiter mode. Happy to stand corrected on this of course.
I was just reading the wiki and it does state that, "Like Alt_hold, the altitude is interactive, using the throttle stick." But I was looking at the configuration file in the source code and there is a line commented out:
//# define LOITER_THR THROTTLE_MANUAL
That leads me to believe that the option to have manual throttle is available via this config setting, which is disabled by default.
by default its THROTTLE_HOLD like on ALT_HOLD_THR this was introduce on newer version where you can mix modes prior to the "simple mode" integration on planner. For those who prefer it they can still set it but with mix result on loiter my want to hold on to that
Ok, Thanks for the information. Does that mean that the Wiki needs to be updated? From what I understand, you are saying that the altitude is NOT interactive by default. If that is true, the Wiki is misleading.
Just poked through the code. Looks like the LOITER_THR config setting isn't even used right now. The way that the code appears to function is that the altitude can be increased by holding your throttle stick anywhere above 700 pwm. To lower the altitude, the stick needs to be held below 300 pwm. That leaves 400 pwm worth of dead space (for hover). Once it determines whether or not you are trying to lower or increase the altitude, it automatically applies the correct throttle to achieve the ascent or descent. So the altitude can be adjusted, but you can't currently directly change the throttle. Hopefully I have interpreted the code correctly.
I think that in most cases the current functionality is the most useful because it is a bit more "hands-off" and would allow one to focus on controlling a camera rather than worrying about holding the right throttle for a hover. I do think there would be a couple instances where it would be nice to be able to blast the multi-rotor into the sky at full throttle though :-)
Loiter tests with 2.0.45
I was tunning Loiter using Ch6 over Nav_P since I had not good LOITER. Default is 2, so I moved up and down: no correction of the loiter spiral divergence (with lower Nav_P values obviously is slower, but still there).
From 2.0.42, where LOITER worked really fine, defaults have not changed except Nav_I increased from 0.1 to 0.15
Then I reduced Nav_I to 0.01 and started to get stable (at 0.05 start again the divergence). I increased then Nav_P = 3 and remains still stable. So, finally I´ve got this "aceptable" values (but no so good as in 2.0.42):
So, still a question for Jason: Is there any significant change in the LOITER laws between 42 and 45?
BTW: Stab, SIMPLE and AH worked fine. AUTO and RTL still to test. AH with BARO still very agresive, what parameter to move?
I have the same problems with Loiter. It makes large approximative circles instead of stable hovering.
I will try to rise Nav_P and reduce Nav_I to see if it helps. Using 2.0.45. No experience before 2.0.44.