APM Copter 2.9.1.b has been released to the Mission Planner and is also posted in the downloads area.
2.9.1b is a maintenance release incorporating changes to 4 default parameters that have been optimized since 2.9.1 was released.  There are also 4 minor bug fixes.  There are no code function changes or additional features.
The changes are:
1) reduce default INS_MPU6K_FILTER to 20hz
2) reduce InertialNav Z-axis time constant to 5 (was 7)
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
4) reduce yaw_rate P default to 0.20 (was 0.25)
5) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew which might have caused problems if you climbed over 320m.
6) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
7) bug fix to acro trainer to do with roll correction 
8) prevent cli from being entered more than 20seconds after reboot.
Users are recommended to:
    Update Mission Planner to 1.2.41 and
    Update their flight code to 2.9.1b from the Firmware tab on Mission Planner. There is no need to go through a new configuration process in the Mission Planner.


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Here my set of parameters for this "cosmetic" release, it's preferable to start with the default but not mandatory, but is important change the parameters mentioned in the first post (point 1/2/4).
I remind that after the introduction of the inertial control is very important to eliminate any abnormal vibration from your setup.

Thanks to the whole ArduCopter T

Bests, Marco


but is important change the parameters mentioned in the first post (point 1/2/4).

In my case the mentioned parameters changed automatically with the update.

Best, Markus

In my case the mentioned parameters changed automatically with the update.

This only happens if you have never changed them from the default.

When APM stores parameters in EEPROM, it avoids storing parameters that are set to the default value if they have never been stored previously. This means that if a default changes, then users who have never changed the parameter will automatically get the new value. If the user had at any time changed that parameter, then their previous choice is preserved.

Cheers, Tridge

Hey Andrew, thanks for letting us know about this. I was always worried that with a new FW update, I would have to re-enter all my parameters again. Now, I know that the ones I changed will be kept same.

So what you are saying is also true for the main PID values (like Control_Rate_P or Control_Rate_I etc.) am I correct?

I am asking all this because I am currently using MP 1.2.35 and Quad FW 2.9.1 I have been holding for the update for a while just not to lose my settings I have done so far. Every time I start the MP, it asks me that there is an update and I keep skipping it. 

With the information you and Craig provided above, Now, I can safely update my MP to the latest (1.2.41) and my Quad x FW to 2.9.1.b. and I can take my quad go fly with the same settings I currently have on it and I wouldn't see any difference...

Would you please confirm this for me?

So far all the changes I made are:





INS_MPU6K_FILTER (Currently set to 10Hz)



And few other parameters not so much related to flight controls. As long as the above 7 parameters won't change, my copter fly same with the new update...



I note, that you have the time constant for GPS versus inertial set very low (3 versus the default 5). Now I'm one of the people who have been having odd 'spike' movements in the loiter, and had tried turning this up. However seeing your low value, I tried this, and just had the best loiter I've had since 2.9.1 came out. 9 minutes 'hands free' with about 10 feet of total horizontal movement, and a foot of vertical.

Interesting, since it suggests that either this value is not working as described, or that the spikes are not coming from the GPS.

So why did you go down on this parameter?. Were you having spikes in the movement?.

Best Wishes

This is your latest parameters file, right?

I took 2.9.1b out for a quick test today.

My main objective was to test whether the leniency in this edition would allow a decent flight with really bad vibes in my frame...

Like this..

So here it is flying, please watch it in HD if you can this gopro has no zoom, so it's a speck at times.

I'd say it's flying very well indeed.

I've taken the tape off the props now, and will try some auto tomorrow if the weather holds.

All good so far though. 

I really need to learn how to fly like this.  That looks like so much fun.  I still barely change my yaw direction if I don't have to. :)  Got any tips? 

The way I learned how to free my yaw thumb was to fly around myself and never stop moving my feet so that I could always reorient my body. What really helps it to keep walking around while you are flying and yaw directing the copter. It seems that when you keep moving your body around it helps to break the problem with staying oriented with the craft. After some practice you can fly fast small circles around yourself like a plane on a string if that makes sense.

Awesome tip! I'm gonna try this today. 

Buy a Micro, they are indestructible, and fly the crap out of it. It helps a lot and pays for itself in saved props. 

Massiverc.com is in the US and is a reputable dealer. In no time you will become a zen master of quad flying. They seriously accelerate orientation training, and the small size simulates a bigger quad farther away. 

But a $20 frame a $20 kk controller, find a big space and do what F11music suggests!

Once you can go round yourself without issue, try the same thing but all infront of you - so big slow circuits, then try the other way (ccw vs cw) - this will pickle your head for about a week, then suddenly you will be able to do figure of eights.

Once you are at that point the learning curve gets quicker and quicker :)


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