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
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.
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
From what I see in source code its not currently supported. (AP_AHRS_MPU6000.h)
Thanks Anton :)
The AHRS GPS gain work but I have not yet tested.
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 :)
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!
Ok, 2.7.1 flies really great in windless conditions.
What parameters are important to have stable flight when it is windy?
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?
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?