There is a preview on GIT right now. I flew a version of this
The PWM output has been set to 400hz (to counter the low pass filter in most Turnigy PWMs)
The DCM's Roll and Pitch gains were lowered to .03 (recommendation of Hein Hollander)
Mavlink has gotten a re-work for performance and memory savings.
Added a scaling factor to camera Roll And Pitch CAM_P_G, CAM_R_G in the params list.
Fixed some bad PID values for Alt hold that were giving folks trouble.
Exiting a WP for another is faster and more controlled now.
Added user hooks for those who want to execute their own code inline.
Increased loiter speed to center when the copter is flown > 400cm (now 800cm).
Loiter in action.
I ever tried to move the hexa-copter alway 100m from loiter position with pitch / roll ,but when I release the stick to center ,the hexa-copter automatically flew back to loiter position.
I think this is a normal behavior of loiter fly mode.
I had a near disaster with 2.0.49 yesterday. I'm new to RC and I blame myself for flying too high, however RTL did not work for me as I expected.
Somehow managed to land my hexa safely in the end. Boy that was nerve racking...
I tested RTL few times later and it worked just fine (though hexa was a bit nervous and twitchy).
Wow, I get scared just watching the vdo.
When it gets hijacked to the right it really speeds up, and when enabling RTL it drops like a stone.
RTL gets home GPS coords when arming motors. Maybe you armed before the GPS fix?
What is your default RTL altitude ?
@I.S. I'm quite sure I waited for GPS fix, though I can't guarantee that.
@Olivier I did not mess with default RTL altitude, which is 8 meters, I believe. That would explain some of altitude loss when RTL was enabled, however hexa was lower then 8 meters when I swiched back to "stable".
Do you have a log for the flight? Wondering what your throttle was when you engaged RTL. It may have been lower than normal.
What do folks think of using the current altitude as the default? Now that the interactive altitude control is much more, well, interactive in 50, maybe we can make the switch.
Do you mean leaving interactive alt hold instead of manual throttle by default for all modes?
The older alt hold had a less than responsive interaction. The new one can be flown pretty aggressively. It's not on by default on AutoPilot, but you can switch that and upload with Arduino.
Actual RTL is not really safe, with current or fixed altitude. (i prefer fixed altitude to be sure to get it back at a safe altitude).
The best would be, like available on other flight controllers, to rise to a fixed altitude (settable), go back to home position, and descend to another fixed altitude, settable as well. Then auto land or descend to a 3 - 4 meters altitude and cut motors if no pilot action is done during more than 20 secondes.
Cutting motors is certainly safer from a 3 meters altitude, if there are peoples on the ground.
After all it is only an auto script ?
Like this you can avoid obstacles, and the copter will not stay to high, waiting for a definitive crash if the radio link is lost.
+1 to that!
Has anyone had any issues with the sonar data not being used in the altitude solution? I have ensured that it is enabled, and tested that I was getting output in CLI mode. It acted as though it was only operating on Baro. Log is attached. Any help would be greatly appreciated. BTW, on a previous version of the software, if I took off in Alt hold, it would immediately rise to the Sonar min, approx 1-2'.