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DeveloperPermalink Reply by Marco Robustini on July 23, 2012 at 5:34am

ArduCopter V2.7 release candidate in the download area:

Features and Improvements:

Better loiter, especially with the new 3DR uBlox GPS. Check out the video from Marco here!
Better yaw control
Better DCM implementation, resulting in noticeably smoother flight
Better camera control, including improved setup in the Mission Planner
AP_Limits library: Altitude limits and geofencing
Better altitude control in ALT_HOLD and better altitude transitions
Better "flip" code

Etc  Bugfixes:
Fix to dataflash erasing, which should resolve an issue some users were having
Fix some MAVLink commands
Fix Circle command
Fix some units
Etc


Bests, Marco

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Permalink Reply by Matt Gaige on July 23, 2012 at 7:25am

I am grateful for the work by you and the group.  V2.6 has been a great jump in performance for me, look forward to trying this and testing any improvement in the stock GPS.  I may have the nerve to record a waypoint or two, instead of just loitering and RTL.

 

Thanks

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Permalink Reply by Mike Mac on July 23, 2012 at 9:24am

I have another APM2 on order with the new GPS and am looking forward to trying the new firmware when it arrives. Does anyone know the current delay time between ordering and shipping?

.

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ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 12:22pm

When I set modes on v2.7 RC they don't save: see below

Loiter Mode is activated by the switch (indicated by the green background) but Current Mode shows Stabilize?

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Permalink Reply by shayan on July 23, 2012 at 12:38pm

hi graham
did you get GPS lock before check it out?
if you didn't get GPS lock it would show you stabilize even you set another mode...

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ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 1:36pm

Thanks shayan, figured it out

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ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 1:34pm

I realize what the problem is, unless you have a GPS lock none of the modes that use GPS will show up, they all just default to Stabilize.

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Permalink Reply by palo sestak on July 23, 2012 at 12:22pm

Maybe this is not the right place, but discussion "2.7 released" is not started yet:

I downloaded ACM v2.7 and tried to compile in arduine and got this error:

C:\APM\ArduCopter-2.7\libraries\AP_Baro\AP_Baro.cpp: In member function 'float AP_Baro::get_altitude()':
C:\APM\ArduCopter-2.7\libraries\AP_Baro\AP_Baro.cpp:91: error: 'log' was not declared in this scope

Can somebody help me to get it compileable?

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ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 12:32pm

Make sure the correct Sketchbook location is set in Arduino Preferences?

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Permalink Reply by palo sestak on July 23, 2012 at 1:00pm

Sketchbook is OK.

Where this log function (in which source file) is supposed to be? I can't find it.

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Permalink Reply by palo sestak on July 23, 2012 at 2:19pm

Solved!

Well when I tried to compile it with arduino 1.0relaxpatch it's OK ;o)

I used arduino 0023 relaxpatch and it is bit outdated. This log (function or macro) must be defined in latest arduino libraries.

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Permalink Reply by Andrew Fernie on July 23, 2012 at 1:41pm

Tried 2.7 today, and saw a clear improvement over previous loads in the loiter, waypoint, and RTL performance (stabilize was fine in  2.6 for me.)

1. I am using a standard 3DR quad with the small motors, 10x4.7 props, 3300mAh 3S battery.

2. Did a full reset so that all PID gains were reset to defaults.

3. Loaded my previous RC channel limits and basic H/W configuration parameters (editing a .param file and keeping only the lines with basic setup parameters is a great way of being able to get the system running again with new firmware).

4. Flew five batteries worth of basic stabilized flight, alt_hold, loiter, RTL and waypoint missions.

a. Bumped up my altitude hold thrust rate P gain by 0.2 to 0.5, and lowered the rate P gain to 0.15 from 0.18. No other PID changes.

b. Loiter was holding within 2-3m in winds of 15-20 km/h

c. RTL brought it back reliably down to the ground (with the APPROACH_ALT at 0). I have a tight cleared area, so had to give it a bid of a nudge right before touchdown a couple of times, but pretty good considering the wind.

d. Waypoint navigation wasn't tight, particularly when making 90 degree corners but, again, the wind may have been a factor. However, it did work each time, and did hit all of the waypoints.

I am still using a code mod that adjusts the compass offsets as a function of motor current. I found that necessary in earlier loads to avoid divergent circling loiters (never seemed to get a good dynamic calibration with the standard approach), but will try without next time.

The impressive thing with 2.7 was the minimal PID tuning required to get good performance. I haven't seen that in previous loads. Thank you to the developers.

Andrew

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