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 u4eake on -
I don't see how this could be because the sonar operating in the cold. The sonar is not on I2C so it doesn't block the processor. In the cold, the sonar just sends 27cm as altitude reading constantly. Result is that the copter climbs fast in alt_hold (because it thinks it is at 27cm and it wants to climb to the right altitude)
The sonar has nothing to do with tilting or pitching, just with going up or down. No, I think this is something different. It wasn't very cold either when it happened to me.
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Permalink Reply by Rz_Ten1 on -
I was having some issues with my quad when I first built it, which might be similar to yours. It would take off, and then spin wildly or take off a lean heavily in one direction. The problem was an arm that wasn't properly aligned. One of the arms was about 10 degrees out of alignment with the rest.
Once I pushed it back into place (and glued it there with some hot glue) the problems disappeared.
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Permalink Reply by Martin Bogomolni on -
I just loaded 2.1 release, tried ALT_HOLD (Baro only, no sonar) and my quad leaped for the sky. Managed to wrestle control back and land it safely.
Does ALT_HOLD only work if there is a sonar installed? I'm using a quad with APM2.
-M
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Permalink Reply by Martin Bogomolni on
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Okay, then this is definitely a problem.
Has anyone else experienced "Quad rapidly climbs" using APM2, baro, and firmware 2.1 when engaging ALT_HOLD mode?
-M
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Permalink Reply by Paul on -
i have experienced this on many occasions with my apm1 board using loiter. to be honest, never had loiter working even when board was on the quad. the baro and sonar work not sure how the others get a somewhat solid loiter. one day....
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Permalink Reply by Chopper on -
I have never got a solid loiter with a arducopter's code.
you are not alone
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3D RoboticsPermalink Reply by Chris Anderson on -
Martin: Please stay tuned for a software update in the next few days. It will work with or without sonar.
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Permalink Reply by Grips on -
can't wait to try it with a hexa! I'm staying on the ground until an update.
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Permalink Reply by Martin Bogomolni on
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Chris, what's the current status of ALT_HOLD (baro only)?
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3D RoboticsPermalink Reply by Chris Anderson on -
Martin: it's working very well on both APM 1 and APM 2
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Permalink Reply by Martin Bogomolni on
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Okay, I've loaded 2.1, and can confirm that I have stable ALT_HOLD, and a sort-of-stable loiter. Loiter seems to be moving my quad plus/minus 3-5 meters from the loiter position, and about one meter plus or minus in altitude.
I will be modifying my baro with a piece of felt to reduce the effect of airflow/wind buffeting, and am running both frames w/o sonar. The twitchy barometer has always been a point of pain for me on the APM1, and it's not that much better on APM2.
Are there new reccomended PID settings for the standard ArduCopter Quad configuration?
-Martin
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