Developer

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

 

 

 

 

 

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Permalink Reply by Johann Van Niekerk on December 25, 2011 at 9:47pm

Hi Chris

Thanx for the quick reply , I have tried flying my hexa with APM 1 1280 and 2560 board , i get the same problem , and from what I can read here my problems are the same. so I assume its the code ? or is these threads now mainly APM2 based ?

Permalink Reply by Chopper on December 26, 2011 at 3:59am

I have the same problems as you describes.

But the problem is the software and not  3 degrees.

because on earlier codes it runs good.

Permalink Reply by Johann Van Niekerk on December 26, 2011 at 5:59am

HI Chopper

 

They Im lost hey . becuase thats the only thing i can still think that will cause this problem . i rebuilt the hexa agian and checked that all channels go to the correct spot with multimeter , all the props goes the right way , went through the CLI test for the IMU all looks fine but as soon as you take of it Yaws to the left and doesnt stop spinning until it crashes

Permalink Reply by Paul on December 26, 2011 at 6:27am
Johann, my hexa yaws (dancing in air on it's own) to. Must be code and possibly combination of 3degree props. At times yaw command doesn't respond too. Dangerous to fly with this code I say.
Permalink Reply by Johann Van Niekerk on December 26, 2011 at 6:56am

Paul

Same thing here.

Hope someone can shed some light on this ,aybe one of the hundreds of people flying code succesfully ?

Permalink Reply by Grips on December 26, 2011 at 7:05pm

I am also having yaw issues on my hex.

Permalink Reply by u4eake on December 26, 2011 at 7:09pm

And I crashed my hexa and for the first time it wasn't me.  Didn't see yaw issues though, it just tilted unexpectedly while in sonar alt_hold and then froze.

I've gone through hexa motorcode, but couldn't find anything obviously wrong.

Are there people flying 2.1 successfully for multiple flights on a hexa ?

Permalink Reply by Grips on December 26, 2011 at 7:13pm

whoa.. I'm not joking when I say this happened to me today exactly.. It was almost like it was hit with interference and went completely wonky in the air.. It first almost hit my house and then a tree but I managed to get it down onto the ground and it rolled over (no damage). I tried to engage my sonar as well about 15-30 seconds before hand and then this happened. It literally looked like it was hit by interference and took a mind of its own..

u4eake: did you recently add a sonar? I added mine and have only been flying with it for the past two weeks since I upgraded from 2.0.42 to 2.1.

Permalink Reply by Chris on December 27, 2011 at 12:04am

same thing here. cant get my hexa stable. the yaw ist not a problem here, but the roll / pitch. after some flighttime, it goes crazy...

Permalink Reply by u4eake on December 27, 2011 at 6:18am

I've been flying with sonar for over half a year now.  Always had very good an reliable sonar alt_hold (except in cold and moist weather, then the sonar quits, which is a known hardware problem, the sonar is not suited for cold and moist environments).

To me it happened on first flight of 2.1, after a few minutes of flying in stabilise, I switched to alt_hold and then after 15-30 seconds it went crazy, tilted right, then left and then it hit the ground (was only 2m high when it started).  

Pls provide as many details on the crashes as possible,  we might see some similarities that may show us where to look for the cause of this.

Edit : when mine crashed it seemed like the apm was hanging, but I'm not so sure anymore now.  Motors were stopped, but screaming, that's for sure.  I tried to disarm, but it didn't work.  But I was still in alt_hold mode, which might also explain why it didn't want to disarm (have to look in the code)

Permalink Reply by Chris on December 27, 2011 at 12:02am

I had this happen to me on my stock quad.  All props destroyed..  No sonar though.

Permalink Reply by Grips on December 27, 2011 at 7:55am

I wonder is it related to the sonar operating in the cold?

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