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.
Altitude hold will adjust with the throttle position to raise or lower the altitude.
It does not have direct speed control. Stabilization mode does.
I always have my fingers ready to the switches to go to stabilization mode.
Regarding the barometer there are others that can explain better.
In robotics there is what is called a frame. It is like a 3D workbench.
It can be defined in any direction, various angles, even upside down with the cartesian cord system.
Once a frame is made it becomes a constant for positioning programs that are trained with it.
I think the barometer numbers likely are inverted.
Just my guess.
Martin: Thanks for the clarification on the throttle position. Lucky, like you I instinctively (heli flying) switched modes in time :-) But good point I must make sure the next setting on the switch goes to stabilize mode so I don't have to jump over two.
I keep forgetting about the frame of reference, so your explanation about the baro reading makes sense to me. Appreciate you reply and help.
You should have much better luck with 46. I've added some rate error limits and let you tune the outer loop.
Loading the code went smoothly. Erased eeprom and went through all setup steps. Xbee telemetry works perfectly.
First test flight of 2.0.45!
Alt hold works like silk! With 42, the motors changed pitch quite a bit while maintaining altitude. With .45 they are dead still!
Will do some more tests outside with loiter when the hurricane has passed...
I tried again today the 2.0.45, the alt hold problem is still there.Is is possible that the baro sensor could be damaged? In addition one time my hexa was going forward slowly even if i was pushing the stick back , to make it return but without succes (log no.6).Why it was not returning ? What could be the cause? I've added (hopefully this time are really added) the log files. Maybe someone can take a look to see what is happening.
My build had drifts due to vibrations to the IMU.
After a few hours of wear on new parts I have found some harmonic vibrations that occur with time and wear.
Recently I have added 1/2 inch neoprene rubber gasket material to float the IMU away from vibrations. Before it used silicone rubber.
It is thumbless in stable mode with no wind.
Test on 2.0.46
I´ve tested 5 batteries in new fw.46. In general all modes worked very well, including RTL and AUTO. I just have some small issues (I´ve tried to repeat them to verify)
ALT_HOLD works very well (better than ever). But some times it start to behave as before (small thrust peaks). After restarting it´s solved. (Not sure if it´s the code, maybe is my SONAR; but pay attention, in case)
LOITER works very well . I´ve tested with medium and light wind and divergences of fw.45 dissapear (using default PIDs). Even I could increase Nav_P to 2.7 without problems. Tested with medium wind and also wind in calm.
RTL. I put ALT_HOLD_RTl = 4 but sometimes doesn´t come to that heigth, but in most of cases yes.
AUTO. I did many checks. I can summarize the following.
- Now ALWAYS do the expected path (in previous fw, not always). So, much better. I repeated 10+ the same path, and always well
- When a Waypoint is reached, the change to the next is very violent. This is good when you plan to do the path very quicly but is not nice for testing.
- Speed is too high between WP. I´ve tried to reduce m/s in "New WP" but it affects only to the "travel" between WP. Once reached is violent.
- I´ve found in the "flight planner" "Loiter radius"=-24 . as default. What does mean?. I´ve changed to 5m.
So we can say that this version is close to the end of being "beta"
Some videos comming.
I also flown multiple batteries on 2.0.46 now and can agree with afternan.
Stabilise, simple and althold are very good. On sonar althold I never got the pulsing motors afternan speaks of.
Loiter flew around in a 10m diameter circle, but that got better when I lowered loiterP a bit. (0.8 in stead of 1.0)
RTL was odd. About 65% of the time it would work perfect. The other times it would seem to work ok, returning home as expected, but when it reached home, it would hesitate for a very brief moment and then take off again in the same direction it was travelling to get home. It would just continue it's course, after a very short hesitation at home position. I let it go for 30-50 meters, but never any sign of comming back.
In auto I also saw the relatively aggressive change when waypoints were reached, but it's not too bad for me, before I had time to get scared the copter was already nice and smoothly on its way to the next waypoint.
I did notice that now the copter seems to wanna land at the next waypoint, instead of the previous one. Land was my last command, and instead of landing at the last waypoint, it continued to the first waypoint of my mission and wanted to land there.
Video is also comming.
Flew 4 packs with light 5mph winds 2.0.46 and pretty good for me also. Stabilize, simple, and althold all very good. I don't have enough room to test RTL or Auto, so I tried loiter in baro alt hold altitudes (30 to 60 feet). Loiter much improved over 2.0.45 for me also and I'm narrowing down on a NavP of 2.77 in wind with default I terms on my "dirty" stock quad. No divergence at all, the quad loitered in a 5 meter circle. At sonar altitude alt hold (4 feet), the NavP work well also which wasn't the case for me with 2.0.45 (the wind at this altitude is blocked by the house).
Very good for me and I'm now planning some RTL and Auto tests in the country next weekend.
Thanks Jason and all.
I think that an acceleration curve needs to be implemented between waypoints.
V = ( 2 G . X ) -²
X is position from start waypoint to mid point
V is instantaneous speed
G is desired acceleration
Then limit the speed according to max speed value and reverse the position increment when mid point has been reached.
in the end :
if position < mid point : V = ( 2 G . X ) -²
if position > mid point : V = ( 2 G . (Xb - X) ) -²
Xb is end position.