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
I know the shafts is bent, I went into altitude hold about 7m heigh and the quad dropped like a rock out of the air bending 3 shafts about 15 degrees.
hmmmmm are you talking about motor shafts or motor arms ? Sorry for the confusion.
I am talking about the shafts.
Arms is still fine.
Spent some time trying to setup my clone F450 with the APM2.It hovers now. But seems to have this funny wobble issue. I have been dropping the Rate P down to lower the effects of this. Currently at 0.09.
The wobble seems to cycle every one second. Almost like the quad is shivering every second or other second. Should I keep lowering the the Rate P?
I think it is probably related to I rate so you should try lowering it. Low frequency oscillations are usualy due to too high I rate. Maybe I am wrong so don't jump me.
ok, I will try lowering the I rate. I have not touched that yet.
This can be a problem related to any parameter if your 'brain' is suffering from vibration. Backing off on the params is not the fix. Eliminating vibration is. I love running high rate_D, but its not possible if there is any vibration getting to your APM without suffering serious 'judders'
The DJI frame works great with DJI kit as the DJI 'brains' have inbuilt damping for the IMU's, But like any controller it works better with balanced props and motors and a series of either built-in or constructed dampening measures in the frame, such as aluminium arms and glassfibre/carbon centre, one of my favourite combos as they absorb so much more vibration that the dji style plastic jobbies, that vibrate like hell if not very well balanced.
With the APM its a great idea to stick it down with foam, bands, silicon, suspend it, float it, whatever! to remove your particular vibration. A one second shudder is not likely to come from code (running much much quicker than that) but from resonant frequencies in your frame. If under half throttle your apm is wobbling wildly you first need to balance everything then tighten up how its mounted. If its buzzing under half throttle then again balance everything but soften your mounting, for example swap the bolts for silicon bushes.
I have a very light weight tri frame, if it has any vibrations in it it will not stay still in hover. If i spend a while tuning it - which is often, as it's so fragile - I can take my params way up and turn it into a crazy redbull fighter machine, that i can flick into loiter while it's upside down and it will just got back to twitch free hover fairly instantly.
I've not suffered the loiter twitch yet, but as an experiment all those suffering try removing all rate_D, and back off on rate_P a bit too. If that helps my money is you need to spend more time watching your prop adaptors as you spool up, scotch tape at the ready, and get rid of those IMU debilitating vibrations.
That little 'tit-end' on your prop adaptor should never move laterally, not even under full throttle, if it does you are out of balance and your are going to suffer in all aspects of multi-rotor flight and control.
Apologies if that was old hat to many of you, i've just not had a rant in a while :)
Rant I thought you were writing your 1st novel Dave ;-)
Hi, i fly with a hexa and apm1 fw 2.7.1 Stabilized fly is great but when i switch to loiter mode i get many wobble with and without wind. I try to decrease Rate Loiter P and Speed Loiter P but wobble are always.
Any suggestions? how can i do?
No dataFlash inserted (new problem)
Have upgraded one of my quads with the version 2.5 pcb. As you know this has the on-board chip dataFlash, I had hoped that the erase, and associated problems would have been a thing of the past!
Well initially, Loaded it with v2.6 in order to test motors etc for surging. The dataFlash functioned fine.
Erased dataFlash. Complete fresh install of v2.71 FW. erase and reset eeprom. complete re-config. First off cli reports no dataFlash inserted!
Have done about 5 flights today, cli still says dataFlash not inserted. Now we know that is now not possible!
Is this a Firmware or a mission planner problem?
forgot to add the picture!
I fly my hexa with Naza GPS.
How can I use AMP2 only for data logging? Any chance of get a program?