ArduCopter 2.7.1 Released
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:
New:
- Preliminary support for MPU6000 on board sensor-fusion (DMP)
- AP_Limits: Experimental "bounce" mode, for smaller spaces (LIM_RECMODE)
Bugs:
- Bug fix for yaw error buildup on takeoff
- Fix in Auto mode for failsafe handling
- Fixes to 3-axis camera gimbal code
Replies to This Discussion
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3D RoboticsPermalink Reply by Chris Anderson on -
Thanks, Andreas! It's in the Mission Planner now.
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Permalink Reply by Kevin Brown on -
Very Cool I will try to test this afternoon
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Permalink Reply by Don Fiedler on -
Does this address the wobble in loiter mode...........Don
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Permalink Reply by Eddie Weeks on -
yeah... My tri on 2.7 would Loiter great.. just a obvious wobble.. what caused that ?
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Permalink Reply by Stephen Gienow on -
How do I implement crosstrack, is it CLI only? It is grayed out on the config screen.
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Permalink Reply by Stephen Gienow on
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On the Arducopter Config screen it says Crosstrack Correction but it is grayed out at 0. On Parameter list it says XTRK_GAIN_SC, and I can chnage that. Should I change that value for crosstracking?
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Permalink Reply by Matt Gaige on -
So what is meant by "sensor-fusion"?
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DeveloperPermalink Reply by R_Lefebvre on -
The MPU internally "fuses" the Gyros and Accels to calculate orientation. Currently this is done in the Atmega 2560. If the DMP can do it well, it will free up a lot of overhead in the Atmega.
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Permalink Reply by Matt Gaige on
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Thanks, this is understandable. So does "Preliminary" mean it is only partly implimented at this time?
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DeveloperPermalink Reply by Andreas M. Antonopoulos on -
Matt, it has flown at least once and is intended for A/B testing (comparison) by experienced pilots. The code is brand new, so caution is required.
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Permalink Reply by Alex on
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APM1. Camera gimbal is not working. The Pitch and Roll axes not correctly work.
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Permalink Reply by Paul Williams on -
Go to the config list then make sure the Yaw is set to 0
then it will work correctly.
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