Replies to This Discussion

Permalink Reply by Tomas Soedergren on March 6, 2012 at 10:28am

Hi Marco,

I have been flying some flights and tested your mod for vertical loiter control. (replacing 100 by 250 in the relevant code). Felt better, less dead band and more firm response.

BUT - now it was almost too sensitive, once out of the dead band. Especially when commanding descend, my quad came down a bit too fast. Maybe this can be improved by Alt_Hold PID tuning, maybe not. Another day I might try with 200 instead of 250.

Please note that my previous posting also involved lateral repositioning behaviour in loiter mode.

Cheers / Tomas

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DeveloperPermalink Reply by Marco Robustini on March 6, 2012 at 12:25pm

In the new code you can easy define the deadband:

http://code.google.com/p/ardupilot-mega/source/diff?spec=svn6a8b057...

Line 1952...
I tried with 200 and havent see much difference.

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Permalink Reply by Vincent Mees on March 6, 2012 at 9:58am

Looks promising !!!

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Permalink Reply by John Campen on March 6, 2012 at 1:33am

When posting comments about APM and 2.4.1 firmware, It might be very useful if we could have a few lines advising  of which version is being using and if it is the vanilla default version downloaded from the Mission planner or if its a splinter tweaked version from GIT and so we know where we are at and whether a particular comment relates to the version we are using on our own rigs. 

Many  of these posted comments I dont know if they are something I should be watching out for because I don't know if the version being used is a hybrid or not

 

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Permalink Reply by Bill King on March 6, 2012 at 8:02pm

Does anyone know how Arducopter 2.4 support X-Plane simulation and Qgroundcontrol? How can I do that?

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DeveloperPermalink Reply by Jean-Louis Naudin on March 7, 2012 at 11:04am

Yes it works on Xplane v9.70,

a tuto here: http://code.google.com/p/ardupilotdev/wiki/ArduCopter

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Permalink Reply by Bill King on March 6, 2012 at 8:08pm

Hi, Marco.Do you know how Arducopter 2.4 support X-Plane simulation and Qgroundcontrol? How can I do that?

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Permalink Reply by John Campen on March 7, 2012 at 9:14am

Any update when the next release will be out?

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Permalink Reply by yovio on March 7, 2012 at 9:27am

Just finished testing my quad, using APM2 and i use latest code from GIT Tridge dcm-wip branch.

The result, this is the best code I ever tried.

I also have question, I flew in Stabilize mode, partially indoor, I could say no wind or very slow wind.

Sometimes my quad can stay in its place for 3-4 seconds and slightlly leans to other directions, its not deadly leans and the leans direction is not always the same.

Do you guys think this is normal? Or I should be able to achieve something better?

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Permalink Reply by Jan Vervoorst on March 7, 2012 at 9:49am

Uhm, this may be a silly question, but where do you find the new DCM code on GIT?

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Permalink Reply by PACEFE on March 7, 2012 at 10:48am

"this is the best code I ever tried"

 

Dont want to be negative but this is what I thought about 2.4.1 until it crashed my copter into pieces.

 

I will be happy when we get a version with DMP working....

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DeveloperPermalink Reply by Marco Robustini on March 7, 2012 at 12:26pm

ArduCopter V2.5 Alpha - Daily test (Tridge GIT - APM1):

Hello everyone!
I want to make partakers of the evolution that the dev team is doing on the AC code.
There I copy text from a thread I wrote on the dev list, I hope you will please stay up to date on the hard work "behind the scenes", I understand why it might seem that we're not working for you...
We are trying to crank out a version that will give its best... stay tuned and be patient.

Cheers, Marco

-------------------------------------------------------------------------------------------------------------
Hi all!
I'm back from the airfield, I tested the latest version of AC with the latest fixes Tridge (GIT of today), Jason and Randy, aligned with the master repo.
Here is the list of problems and improvements i've found:

1) very poor accuracy of the yaw in hard maneuvers but also in normal flown, easily loses the position by rotating the quad in a clockwise direction, and recovers as soon as it exits the maneuver abrupt, sometimes the quad I remained however rotated by at least 20 ° with respect to the initial position. Yaw work much better with the release 2.4.1 in the planner
2) very good dcm stability, only one issue with horizon, although for once I found that the artificial horizon was moving too slowly compared to the actual movement of the quad in my hands, I resolved simply by disconnecting the lipo and then rejoining (see tlog)
3) the throttle hold (i think now dynamic) is perfect with sonar and orrible with baro (see video and logs), some motors overshot in loiter. If i write a different value in the planner the throttle hold  and refresh i see different value (i write 0.200, refresh and i see 0.485), and this also to engines with disarmed
4) loiter is fantastic, much better thank 2.4.1, i tried for comparation the JL version (2.4.1xp2) and there is no comparison, this works much better, obviously you see the error of gps, that never fails, but is very stable (the video speaks for itself)
5) the repositioning of the loiter, both in height and in position is PERFECT, even dear Jason was better though "250" instead of 200 "(you know what I mean,, but I can change alone, LOL)
6) about the "tune function" in the planner: the "tune high and low" work fine if i write this value in the left column, but if i write high value "7000" and low "2000" then i see in the right side of the tune parameters "2000,0" and "7000,0"....?!?!

DCM is very stable, but there are still many things to fix before releasing.
I have not done tests with my X8 because first I want to see the small quad flying as it should... :P
The video of my test is in progress, post it here as soon as it is on my channel.
In attachment all the logs.
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