Arducopter 2.1 release
Ardupilot 2.1 is out and can be downloaded by the mission planner (or with Git). You must have the latest version of MP to be compatible. If you're compiling with Arduino, you must use the "mrelax" version of Arduino that is in our downloads section. This is because Arduino was never tested with code larger than 128K. And since our code is probably the most complex Arduino project ever, we found the issue. This altered version of Arduino allows you to specify a special compiler flag that makes it work again. Otherwise it's functionally identical to version 22. When we transition to 1.0 of Arduino, you won't need to use a modified version, since they have patched it for us.
This version has a few new features, but is mostly a bug fixes and compatibility with APM2. The nav routines have been updated and well tested. I'm getting very reliable results now.
One new feature that I snuck in was SuperSimple mode, which re-calibrates simple mode when you are flying with GPS > 20m from home. It allows you to fly in any direction in Simple outside of this radius. Check the wiki for more info.
Added Auto_land mode to help with Failsafe implementations.
Here's a video I took flying WPs using CH 7 to toggle record them. I flew back and forth over the park to se how straight a line I could maintain and how repeatable it was, then I recorded a few waypoints to the left and right, then I recorded a landing wp by toggling CH7 when the copter was on the ground. The landing could be improved, it was trying to maintain a location and didn't level out in the last meter to the ground as it should. I was missing the screw holding my Arm in place so it folded in just a bit, no real damage done. BTW, this video is W/O a sonar.
The next video is of the Loiter control. I improved loiter a bit with a bug fix and the stability patch from the stabilization. Wind was mild. Could be tuned just a little higher.
Here's a video from Dec 17 showing WP recording. The radio was on the ground the entire video. The 3DR frame did not have a sonar on it. The landing was recorded as well.
Upcoming:
Tridge wrote a Geo - fence routine to restrict flight within a certain area for Arduplane. We'll port that over to AC. You'll be able to fly acro inside a safe area and have it go into AP if you loose control!
We need one more pass to finalize the Optical flow integration.
Finalization of the Z Accel code.
Have fun and fly safe,
Jason
- Attachments:
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Arducopter_2_0_56.zip, 1.2 MB
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Replies to This Discussion
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Permalink Reply by Paul on -
BTW, i tested loiter just briefly today... as expected nothing good, cant remember me having a good loiter experience. what it did was shoot up, stop for 1 sec and then up again, stop for 1 sec then up again (like throttle bursts), at that point i went back to stab mode. i have my baro with some light breathable foam inside a dome.
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DeveloperPermalink Reply by Marco Robustini on -
Paul, wait the 2.2.1 test for yaw iusses, from what I read in the dev list should now work better.
Seems like that AC once given the yaw command can actually find correspondence between the amount of input value and the real effective rotation of the quad, and then groped is to reposition the nose with those strange bounces.
These are amplified rebounds obviously if there is poor force with rotation of the tail.
This "anomaly" in AC is present in large quad with 6 or 8 props, has been repeatedly reported to Jason which is working to try to resolve.
Anyway if you have big responce try to reduce STABILIZE YAW P and RATE YAW P.
About inclination, the rule is valid for all motors with prop in all configuration, for "balancing" the torque effect generated by the propeller.
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DeveloperPermalink Reply by Marco Robustini on -
Again: what's the value of "RC4_DZ" in you parameters?
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Permalink Reply by Allen Bishop on -
Marco:
What is the 3 degree inclination adjustment? Do you man Declination setting for the compas?
Allen
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DeveloperPermalink Reply by Marco Robustini on -
There's reply in another point of the thread... :-)
Bests
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DeveloperPermalink Reply by R_Lefebvre on -
Basically you rotate the motors slightly on the arms such that they generate some side thrust which helps the motors have yaw authority. Look in the wiki for more details.
You need to make sure to get the angle correct. If you go the right way, the copter will have no yaw authority at all.
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Permalink Reply by Chris on
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Loaded dev 2.1 with AF02 mod, and on first flight with stabilize and simple mod, after around 15 secs of hovering manually, she rolled left around 30 degrees and crashed.. it was a stable descent not wobbly or anything... Could not recover. Input right all the way and made zero difference.. Im a noob since last monday in flying but havent crashed once in a dozen flights.. :((( The prop with the most damage had the top screw loose. Not sure if this was the cause of the crash or software because I tighten the props with the tool and check every flight..! Or possibly the sudden stop of the prop caused it to loosen itself.. Thats what im thinking because if the prop was loose, it would not of sustained that much damage as it would have been almost free with not much resistance.. Any input on this?
any difference that its winter here and -14c?? been flying all my flights in subzero temps since I got her..
ordered 6 sets of props lolll
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DeveloperPermalink Reply by Marco Robustini on -
Chris, download log from APM and upload here...
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Permalink Reply by Chris on
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:( not sure if I did this log stuff right, first attempt
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2011-12-24 02-47-50.tlog, 1.3 MB -
2011-12-24 01-49-54.tlog.kml, 284 KB
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ModeratorPermalink Reply by John Church on -
I played the log in MP and didn't see the crash. The log also read that you were in alt-hold for a long time.
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Permalink Reply by Chris on
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maybe uploaded wrong logs.. Try these ones
I cant seem to play my logs in MP.. I load and press play with tlogs?
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2011-12-24 01-27-06.tlog, 990 KB
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2011-12-24 01-27-06.tlog.kml, 347 KB
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