Replies to This Discussion

Permalink Reply by Graham Miller on August 15, 2012 at 10:08am

Hi Darren,

thanks still waiting for my 3DR radios to arrive!! so I can really have some fun. I hope there not going to be much longer? as the weather is supposed to be good for the next couple of days.

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Permalink Reply by Rui Manuel Cravo Marques on August 15, 2012 at 6:33am

I have asked this before, but got no answer. Can anyone explain how AHRS GPS gain works ? What is it supposed to do ? What behaviour should we expect ? Thanks

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Permalink Reply by Anton Stuk on August 15, 2012 at 6:53am

From what I see in source code its not currently supported. (AP_AHRS_MPU6000.h)

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Permalink Reply by Rui Manuel Cravo Marques on August 15, 2012 at 8:24am

Thanks Anton :)

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DeveloperPermalink Reply by Marco Robustini on August 16, 2012 at 3:41am

The AHRS GPS gain work but I have not yet tested.

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Permalink Reply by Rui Manuel Cravo Marques on August 16, 2012 at 3:55am

Hi Marco, thanks. I'm using the mp32 in my quad since my APM is in my hexa and grounded waiting for propellers. So I'll try to change the values to see what it does. I don't know if it is enabled at the ac32 code, but I'll ask Emile.

Best regards, and good hollydays if that's the case :)

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DeveloperPermalink Reply by Marco Robustini on August 16, 2012 at 4:36am

Oh dunno, but i think is enabled because Roberto told me that the code is aligned with the official 2.7.1.
I'm waiting for the last fix for about the U-Blox GPS and i start testing the VR-Brain! :-)
Good holyday mate!

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Permalink Reply by Vincent Mees on August 16, 2012 at 12:00pm

Ok, 2.7.1 flies really great in windless conditions.

What parameters are important to have stable flight when it is windy?

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Permalink Reply by Murray Spoelstra on August 16, 2012 at 1:29pm

I've had to reduce the NAV_P values the most when flying waypoints in wind. Currently down to 0.8 and NAV_I at 0.05.

Interesting to me was that up to v.2.6.1 I usually flew waypoints at speeds of 8 to 10 m/s. Since v2.7 the copter goes out of control at the waypoints if I set the speed anything above 6m/s. Tried it with 2 different quads.

When there is moderate wind the max speed I can use is 5 m/s.

My theory is that it has to do with the aggressive way that it tries to control yaw. At least it faces the right way during flight from v2.7 onwards.

Has anyone else noticed this tendency with the latest code?

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Permalink Reply by Don Fiedler on August 17, 2012 at 2:36am

I am setting my NAV P @ .8 as well and I @ .00, need to try .05, I'm setting ms @ 3 & 4.

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Permalink Reply by Darren Stan Oakley on August 17, 2012 at 1:03am

Just built a new frame same as before and gone from 3200 lipo to 5000 so a big waight gain. After a quick check on old settings I had to change a few clicks in the stab P and alt throttle P and it's flying perfect again. This 2.7.1 is rock solid on both of my frames. The PDF guides in the wiki are really useful.

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Permalink Reply by Vito Ammirata on August 17, 2012 at 3:34am

Hi,

I'm using ArduCopter 2.7.1 with APM1, 3DR frame and telemetry.

This is my first experience with quad.

I have used only Stabilized mode until now and the quad unexpectedly loses its altitude (more than 10 meters and constant throttle) until it touches the ground roughly.

Have you any suggestions?

   

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