ArduCopter 2.7.1 will become available on Mission Planner and in the downloads area shortly. This release contains a few important bug fixes as well as the first implementation of the MPU6000 sensor-fusion code.
Detailed changes are in the commit log. Here's a summary:
- Preliminary support for MPU6000 on board sensor-fusion (DMP)
- AP_Limits: Experimental "bounce" mode, for smaller spaces (LIM_RECMODE)
- Bug fix for yaw error buildup on takeoff
- Fix in Auto mode for failsafe handling
- Fixes to 3-axis camera gimbal code
Sorry you're having troubles. I'm looking at the motors surging issue over on the "engine hiccup" thread. I'd like to see your logs as well.
I've been away for a few months. Many versions have passed.
I loaded the code through MP, eeprom erased in CLI and told it to reset.
The motors ESC's were individually manually calibrated from the start and still works with this version.
I did find that I lost track, a few versions ago, that the selection of the proper sonar is important.
The radio was calibrated all options checked and the pids approximate for this quad used.
I had to do a update each time on MP because of the mav version being .9 on the pc and it needed 1.0
It flew like a dream. So well I could talke about it with a fellow in the park confidently doing a few fly by's.
I will play around with some gain settings. Very stable right up to my nose watching. Don't try that at home;-)
I had a great time with this build.
It works even with a bearing vibrating to the APM2 controller.
your video is of utmost importance and so are all reports about successful flights. This project needs encouragements to balance the flood of cries for help.
Please show your quad in detail.
Sorry, excuse me, I beg you pardon, please don´t google anything for me. I only wanted to thank you for the video link
Hi! Just a short report.
Just finished my new Quad (X Mode):
APM 2 (FW 271)
4x Skywalker 20 A ESC (currently on high timing, voltage protection/Brake/Gov off, Throttlerange set to 1000-2000)
4x Robbe 2827-26 (smooth running, Multimeter tested: no short to the housing)
4x APC SF 10 Inch 4.7
DJI 450 Frame (so cheap, i could not resist // way too heavy)
FRsky TX/RX: DHT-U / D4FR sumsignal
Lipo 3S 3300mAh 25C
Ready to start weight incl Lipo: 970gr
Hovertime: About 15 Min
Maiden on Stock PIDs: GOOD , rate P lowered to 0.14 : Perfect flight in stabilized mode, Acro steers still a little bit weird for me (used to MWII). Yaw works well with unchanged PIDs. TODO: Thr/Baro/Loiter PIDs.
My front right ESC (connected to "1") gets significantly warmer than the others (not hot). No failure so far. Motortemps seem to be equal on all 4 Motors. Quad looks pretty balanced. Perhaps i should make it tailheavy to look if the front right ESC reduces temp.
I just wanted to report it, because it is 99.99999% a problem of my cheap ESC. But there is also a minimal chance that it could be a software issue with output No 1.
EDIT: Before i search all the WIKI again ( i know i stumbled across it but cant find it now) my question for future FW upgrades: Does the automatic update do a eepromclear on its own? If not, can i just do the eepromclear from Arduino ide 1.0.1 like i am used to on Mwii, or do i have to do some magic in the missionplanner console like i think i stumbled upon in the wiki?
Regarding the ESC temperature, how are you powering the board ? Via a separate uBEC or are you using the ESC BEC ? If you are using the ESC from motor number 1 to provide power to the board, it's normal that it gets hotter than the others especially if it has a linear BEC, because linear BECs dissipate power by heat. However I would recomend you use a sepparate uBEC and put it as far as you can from the RX to avoid interference from the switching.
Regarding the clear eeprom, you may enter the mission planner and choose the "terminal" tab. You go into CLI mode (command line), type "setup", then "erase" and "reset" (choose Y) and there you go.
Thank you very much for your explanation Rui Manuel!
I am such a Idiot! 30 Min after the post i figured out that i power the APM by the BEC of ESC 1 (like you guessed) of course it it heating more up. A sparate BEC is def. the way to go. My Frsky Telemetry tells me that the D4FR is just getting 4,7V - so i fear a black/brown out of the APM2 because it is on the same line. BTW I didn't put in the zener diode, because i am not a "reverse polarity lover". The erase worked after looking at the wiki again - i did it exactly like you advised, except after entering the terminal you have to give it 3 times <Enter> than the APM2 will drop the pants.
So sorry for my stupidity and cheers for you Rui Manuel!
I have another stupid apm 2 question:
From my understanding Loiter mode is pos hold mode and altitude hold mode combined.
So i tuned PID for Thr/Alt and POS Hold/loiter. Alt hold works now and pos hold also (both not very well yet). But when i switch in LOITER Mode it does a few meters jump in the air! I didn't expect that. I expected a swinging quad with a few m radius and max 1 m change in altitude. Does it take the very unprecise GPS altitude into account instead of just using the more precise baro? How can i turn off this behaviour. Is it a feature or a error?
:D don't need to apologise, asking is not a stupid matter. Regarding the alt hold, I'm having the same problem. In 2.6 I had a very good alt hold, but now either goes to the ground or jumps. I'm using APM1 and I know the baro isn't very accurate, even worse is that I have been flying with lots of wind wich can cause sudden pressure changes causing the baro to get wrong information, so I'm waiting for calmer days to tune it. According to description on version 2.54 (if I'm not wrong) and 2.6, you had to fly for 1 minute or 2, maitaining altitude manually as stable as you could so the APM could catch that value and use it as hover point. I don't know if this is still the procedure. You also have the option of using ch 7 to set your hover point with the flick of a switch. About an hour ago I think I managed to get a good alt hold but I'm waiting for the wind to vanish in order to fine tune it. Also, if you have throttle rate too high, the quad will start to "bounce" up and down untill it eventually touches the ground. You may want to use ch6 (attached to a variable channel like a pot) to tune the throttle rate p to have it as stable as possible.
Yep, i am abusing my Ch6 Poti the whole day now. :). The sudden hight jump when activating loiter could be a FW issue, because it is not happening when turning on alt hold alone. Alt Hold without a proper integration of ACC Z values (like NAZA does) is halfbaked anyway. Sudden height changes can only be detected and compensated by accelerometer. You can expect a valid height (+- 50 cm) from BMP085 by averaging and sorting out crazy values every 0,5s. Ms baro may be faster and more precise but can not replace ACC Z interpretation. I doubt that this FW has a way of fusing baro and acc data. Normally you turn on althold at hoverpoint anyway and not during rising or falling. Besides this there is no real hoverpoint because the Lipo degrades during flight and the hoverpoint rises. So a proper "I" must compensate this. But getting a proper error "I" from noisy barodata is difficult without the fusion of ACC data..... BTW on my mwii i covered the baro (bmp) with foam, on my apm2 the baro is inaccessably buried below the gps board - grrrr.
It is windy here as well, i will try to tune alt hold anyway....
Thank you for your hoverpoint hint, i will look into this perhaps it helps.