Arducopter 2.0.42
Just posted this version which has an increased performance DCM implementation. This allows the main loop to run 50Hz faster without increasing the CPU load. I've flown this for 30 minutes and it's an improvement in every respect.
Circle mode now seems to be working just fine. This should be the last beta! enjoy testing!
Jason
Here is the Link to a download:
Replies to This Discussion
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Permalink Reply by Sylvain on -
Hello,
Yesterday I flew the 2.0.42, and looked in the code.In System.pde I saw that in STABILIZE and ALT_HOLD, Yaw was computed according to the navigation parameter.
I would have expected to have YAW_ACRO for these 2 mode, but that is jsut a personnal expectation I don't know if others share this.
During the flight, I used both Channel 6 & 7 to tune Rate_P and Rate_I. Then when it was OK in ACRO, I switche to Stable and Tune STAB_P and STAB_I.
But, though the quad is stable in ACRO, as soon as STABLE mode is active, it started fast small oscilation, when Go back to ACRO they disappeared.
Would it be requiered to have different RATE_P & RATE_I for ACCRO and for STABLE mode?
In the regulaion loop, may the STABLE regulation interfere with RATE regulation?
Does anyonelse experienced this behaviour when switching to STABLE?
Thank you
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Permalink Reply by MVeloso on -
This morning i did test flight with V42.
I used a Y6 configuration.
Only stablized and no sonar.
But with a GoPro. It was a calm day(wind speed 6 Km/h) and i get this video.
This is raw video and the servos of camara mount were switch off.
http://www.youtube.com/watch?v=z_eGViwEg8I
When the drone in moving we have a more stabilized image!
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Permalink Reply by Lee Williams on -
Hi Jason, had another test with 42 today, I upped the P in NAV WP up to as you suggested in my other thread, but it was moving around even worse, even though there was very little wind today, I believe the expression is "toilet bowling", nothing scary but taking up quite a bit of sky, alt was fairly good but again moved up and down quite a lot, but still this is the best performance in loiter mode I have had. I don't know what to do with regards to PID's now with regards to what ones to alter, eg Loiter PID's, NAV WP PID's etc, could you give me some advice as to what to try, I have included a google earth image of my track while in loiter and my log, thanks in advance Lee
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2011-09-15 09-09 7.log, 263 KB
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Permalink Reply by Lee Williams on
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missed a bit in there, I upped the P in NAV WP to 3, dropped it back to 2 now and try again tomorrow
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Permalink Reply by Lee Williams on
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anyone help on what PID to alter to tune loiter.
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Permalink Reply by Lee Williams on
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Anyone help with what PID's to tune??, is it only loiter that effects loiter mode, or does loiter just effect how quickly it will return to the loiter point once moved off, does NAV WP effect how difficult it is to move it off the loiter point etc,.
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DeveloperPermalink Reply by jasonshort on -
Nav_P is how desired rate is translated to pitch and roll. That's the one you need to tune for loiter.
The other things to try are tuning up or down Loiter_I which is used to overcome wind. If not used properly it can cause overshoot and slow oscillation.
Jason
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Permalink Reply by Martin Szymanski on
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Tested 42 using sonar and barometer with Alt hold in simple mode.
Next is to use waypoints and auto mode.
The copter is a very fun machine with the latest code.
at 3:45 there is a swing it found :-)
http://www.youtube.com/watch?v=ao3k0Ydhcyw&feature=player_profi...
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