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
Marco, do you have an explanation for the strange behaviour in the logs I posted earlier?
I've similar issue reported to the team yesterday, stay tuned (at the moment no reply from the other developer).
Maybe I have missed something. But I have had 2.7.1 uploaded to my quad since it was released, and it works flawless for me in Stab,loiter, alt hold and auto. I very pleased with it. Well done !
Your loiter doesn't wobble?
Not that I've noticed Graham.
Maybe it's something to do with airframe or motor Kv or ESC used.
OK, who else gets a constant small twitch or wobble in Loiter?
With 2.7 and 2.71, I've noticed a constant small twitch in loiter. Logfiles attached
Hey guys, here's my little bit of contribution which I hope will help the developers and users solve some of the issues I've run into. My hexa had been grounded ever since the 2.7.1 update but I found a solution.
I am flying an ArduPilot Mega V1.4 with the Rev H v1.0 IMU
I do not remember which firmware version I was on prior to the update. The update resulted in 4 props spinning instead of all 6. I noticed that output channels 7 & 8 were no longer logging any signal. I was just getting a 0 value on both. However output channels 5 & 6 were now responding to throttle input...which was weird. So I connected the two none working motors to channels 5 & 6 but this resulted in problems with the ESCs not recognizing the signal properly and giving me error beeps (despite recalibrating them individually).
I ended up reloading older firmware versions until it worked. The newest version which brought everything back to normal was version 2.5.3. Since some people are having success with the latest version, I'm guessing that changes in firmware versions beyond 2.5.3 must have some incompatibility issues with certain APM hardware configurations. In any case I hope that this will help track down what changed beyond 2.5.3
A very pleasant and stable flight shame that the four charged batteries no longer as before. will not know if the bat or more before consuming 2.7 lasted seven minutes each, now only 3, I test the many exhausted.http://www.youtube.com/watch?v=P2Y08V3yk3s&feature=player_embedded
My quads loiter perfectly with 2.7.1 without any twitch or wobble. Apart from the lower speed that I have to use for waypoints from 2.7 onwards, I noticed another issue with my last two flights.
Both were waypoint flights in excess of 4.6 km, but after the last waypoint when it starts decending in LAND mode and I switch to STABILIZE, the throttle doesn't respond properly. The quad keeps descending even with full throttle. Once it seemed to recover somewhat after a while, but today I had to make an emergency landing at the bottom of the hill.
That reminds me: Is there any way to fly waypoints lower than home altitude? My takeoff point is at the top of a hill.
Good question Murray, i think the reply is "no", but i'm not sure about this, i don't know if the planner can accept negative values of altitude, I've never tried... :-)