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DeveloperPermalink Reply by Jean-Louis Naudin on March 5, 2012 at 10:02am

Hello Daniel,

I have just re-conducted a full test with a full APM v1 (with IMU shield) in HIL mode and its work very well...

May be you may check this:

Regards, Jean-Louis

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Permalink Reply by Chapelat Daniel on March 5, 2012 at 11:56am

Good evening Jean Louis
I checked it is ok, I do not understand is that ArduCopter v224xp2works ok but ArduCopter v2.4.1xp2 does not allow me the connection, may be it is the use by the IMU (USB cable), I do not have cable FDTI, or when a problem with windows 7, as for any errors during compilation or transfer; I have yet many wanted to tryyour improvement because it is always a great satisfaction.
Thank you again for your help
cordially Daniel

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Permalink Reply by Chapelat Daniel on March 5, 2012 at 6:41am

re hello jean louis
I have verified (# define HARDWARE CONFIG_APMAPM_HARDWARE_APM1) this line is ok, the compilation goes well,but still a problem connecting with Mp? thank you

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Permalink Reply by Rui Manuel Cravo Marques on March 5, 2012 at 4:31am

Chapelat Daniel, edit APM_PID_JLN.h and you should have this line at the beginning

 #define CONFIG_APM_HARDWARE APM_HARDWARE_APM2

replace with

#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1

 

I'm using it with APM1 and I don't have any problem connecting.

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Permalink Reply by Chapelat Daniel on March 5, 2012 at 6:06am

Hello Rui Manuel
Thank you I try your advice and I would like to inform you, I'm starting with arduino and I'm embarrassed to seek advice in permanence!
Thank you to all that is really exciting
Daniel cordially

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Permalink Reply by Rui Manuel Cravo Marques on March 5, 2012 at 6:47am

No problem, I know it may be a bit tricky in the beginning specially if you haven't worked with arduino before :)

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Permalink Reply by Chapelat Daniel on March 5, 2012 at 12:00pm

Good evening Rui
Reassures me your indulgence!,
I just ask one more time JLN which is also very nice to me!

cordially Daniel

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Permalink Reply by Jonathan M on March 5, 2012 at 12:55pm

So, I have been flying JLN’s update with the DCM fix and have had some success.  My leans were much mitigated and stable mode felt pretty solid.  However, after a brain-dead mechanical error on my part, I had a motor out situation and crashed just a few feet above the ground. Anyways, I repaired that issue, changed two props, and started flying again without any tuning changes.  Post crash, I now have the twitching phenomenon that plagued us back in the v2.3 days.

Now, this is probably a hardware issue, given my crash (note: only had a few quick flights prior to the crash.  I don’t recall twitching, but it may have been there just not as pronounced.  I am trying to find the logs).  The reason why I think that it possibly could be software related is that when I reduce the Stab D and Rate D terms to 0 (previously, .010 and .004 respectively), the twitching is mitigated.  This seems similar to v2.3 problem/solution prior to the software.

I realize this fix is still very alpha and no one recommends flying it..  Again, it’s probably hardware related, but some peculiarities give credence to the chance of it being software.  Please don’t waste too much time trying to investigate because I would not want to dilute anyone’s efforts to get the next release working well.  It’s really just an FYI in case it truly is an issue with the code. I will try to deep-dive it more tonight and post any findings

For a hardware related twitch, are there any checks or tests I can do to find the issue?  All my connections seem good.  I have yet to re-calibrate the ESCs, but that was my next step.

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Permalink Reply by Rui Manuel Cravo Marques on March 5, 2012 at 4:07pm

you could check if all the motors are well tighten and aligned and the motor stands and the arms, if any arm may have come loose causing it to give a few milimiters front and back, or if an arm is bend or any piece loose that may cause changes on the center of gravity... that's all I can remember if it's hardware related post crash.

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Permalink Reply by Jonathan M on March 5, 2012 at 6:41pm

Hmm.. I will double check. I have had my fair share of crashes, so nothing is really true anymore.  But  I have been flying like that for a while with no twitching.  My gut tells me it's a electronic or software issue rather than out of CG.  It even twitches when holding it in my hand.  Twitching goes away when the d terms are eliminated

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Permalink Reply by Jan Schermer on March 6, 2012 at 12:07am

I have the same problem with 2.4.1 (actually, saturday trunk more or less). Twitching with increased Rate_D. It's a real pity because higher Rate_D makes it react so much better to external forces and correct back when stick input is gone. I can also mitigate it by reducing Rate_P but that makes it very lean. I need more resolution in Rate_D - something like 0.0035 would be perfect :/

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Permalink Reply by Tomas Soedergren on March 5, 2012 at 4:37pm

Dev team,

From the postings here I got the impression that JLN solution for auto-landing works better that the one currently pushed (2.4.1) - is that correct? (have not tried it myself)

If yes, will JLN auto-land code be included in next release?

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