Discussions

2.0.33 works very well in Loiter mode. Circle of 1 meter

Posted by druckgott on July 5, 2011 at 11:05am

Hallo, today I have testet the new version, and I have to say, this was the best version I ever testet.

 

I have stupidly erased the wrong logs after flying, so I can´t share my logs.

 

In Loiter mode I have a Circle of 1 meter which the copter hovers. The only think I have to mention, is the barometer, the copter moves up and dow around 1 meter.

 

So I have to say thanks and go on with your works, it´s very good.

 

I hope I can fly today again and then I will share the logs.

 

thx

druckgott

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Replies

  • marcelo July 9, 2011 at 3:47pm

    I must also say that Im happy with 2.0.33, altough I've only tested stabilize, simple and LOITER, the GPS adquisition time is incredible just 25 seconds in my backyard full of buildings.

    Loiter mode was great in so reduced space!!

     

     

    MY CONFIG:

    TYPE: "QUAD X"

    FIRMWARE: last .33 (AC2 directly from mission planner)

    FRAME: 28mm

    STOCK: all stock motors,esc,frame,prop 10x45 and weight/gravity center

    SONAR: NO

    TELEMETRY: NO

    GPS: YES mediatek stock

    CAMERA/FPV: NO

    LIPO: 2650 3s

    MAGNETOMETER: YES and enabled

    PID: all default

  • Mathew Wellington July 9, 2011 at 3:31am
    reading this, i cant wait to try 2.033 - is the camera stabilization sorted ?
  • Steven Gottlieb July 6, 2011 at 7:53am
    please I'm having trouble locating the link to down load 2.0.33 code
  • 100KM
    u4eake July 5, 2011 at 2:17pm

    I have also upgraded to 2.0.33 today and can confirm the findings from druckgott. Although there was absolutely no wind today, so the real test will be when there is a little wind. Copter was VERY stable and I could leave my hands off the tx in stabilise for many seconds and my hexa would only wander off a few meters.

    In alt_hold I could hear the motors work to keep altitude. On baro it would wander up and down 1-2m which corresponds to the variations I see in the CLI when testing the baro. On sonar it would still wander a bit, but might be better with some pid tuning. Though my sonar seems off a bit when I test in CLI : min value is 34cm and when I keep copter at my height (I'm about 1.80m) it indicates 2.5m. Is there a way to calibrate it ? (I'm using the recommended sonar from the wiki)

    Loiter was also much better then before (though no wind, so it was easy on the copter). I had loiterradius on 1m and with stock pid's it stayed within about 1m for about a minute orso. Then it slowly started wandering left and right, about 1-2m to each side, slowly going further and further, at which time I took over.

     

    So great work guys !  I'm eagerly awaiting for the next release with RTL improvements !

     

    A few more questions if I may : Can loiter radius be set to zero ?   Are auto-landings (take-offs) implemented already ?  

  • druckgott July 5, 2011 at 12:47pm

    So now I have uploaded a short video and here are also my parameter file

    http://www.myvideo.de/watch/8197683

    03_07_2011_V2_0_33_Loiter.param

  • druckgott July 5, 2011 at 12:00pm

    Ok now I have made a second flight, here are the logs. I also have done a video, I will upload it now.

     

    The first loiter section works not so good, but the third works perfekt.

     

    05-07-11 08-57 1.kmz

    05-07-11 08-57 1.log

    https://storage.ning.com/topology/rest/1.0/file/get/3692233720?profile=original
  • DaveyWaveyBunsenBurner July 5, 2011 at 11:15am
    The amount of work Jason and the team has put into this is unbelievable and it shows!
  • 3D Robotics
    Chris Anderson July 5, 2011 at 11:10am
    Great news and thanks for sharing! We're definitely getting close to taking this out of beta. Jason's got some RTL tweaks coming in the next version, and that could be the one.
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