In just a short while, ArduCopter 2.7 will become available for download in Mission Planner. As we worked on ArduCopter 2.6.1, we saw that it had several new and compelling features (as well as many bug fixes and improvement) so it was decided to make this a major version release.
A full list of changes is here, but they include:
New and Improved:
Michael :D you totally rock ... done that working fine with 101 now.
Thank you very much. Best regards.
Copied over from the blogpost - sorry didn't see the announcement fo this discussion. Attention problem, I guess ;-)
Regarding the Gimbal control discussion started in the Blog
Bit more detail about the servos:
Generally analogue servos are controlled by giving them a new setpoint at 50 Hz (as mentioned) with the usual 1000-2000us PWM scheme
"Digital" standard servos accept setpoints at a higher frequency still with the approx. 1000-2000us modulation - there is no real standard but if data is given, I have seen <=333Hz at least with Align, Savox (identical for the most part), MKS, Hitec.
As mentioned, 490 Hz is the practical limit for this modulation.
"Digital narrowband" uses a different modulation: 760 us as servo center which gets you past the 500Hz, 560 Hz framerate seems to be typical (again, no real standard here). These servos are usually dedicated tail-control servos for helis.
Operating a servo with too high a framrate leads to signal aliasing and typically smokes the servo as it may be getting forbidden positions and try to get there, destroying itself in the process, but for sure will never rest and just cook its motor and consume lots of power. An indication to this is "singing" or "growling" when the servo really gets a constant input.
So when programming this, please keep in mind that actual servos might need a different refresh rate from ESCs.
2.7 rocks! I am able to max out the PIDs' for ultra rigid flying, but i am also able to turn them down for a more docile flight with AP gear. Wasn't able to do this on earlier version. I am only having one problem though. Every time I swap out batteries and reboot my APM2 the HUD shows that the copter is leaning to the left several degrees. As you would expect, when I lift off it rolls hard right to correct. I have leveled several times, and auto trim has no effect. I uploaded the firmware through the IDE and Planner with same effect. I have even tried two other boards. Weird. I am very familiar with the setup process, but this is puzzling. Currently I am leveling the accels in the planner via wireless telemetry before each flight. Just wandering if any of the vets here have any ideas before I make an issue.
Screen shots of last two initializations
I am having the same issue plus one more. My board will not arm everytime or better will not arm at all after the update from 2.6 to 2.7. Only problem is i don't know how to downgrade....
Hi P.Testa, have you done the radio calibration procedure after updating ? If not, please do it again and see if it works.
Silly me i removed the board and connected Flight mode indicator to a different input. My AI Horizon is still like Todd described above even after trying to re calibrate a couple of time. Flight characteristics are ok though with some trimming.
you can upload hex file directly using xloader aplication from http://xloader.russemotto.com/
Todd, have you made a mag calibration ? At hardware options, try to do a Live Calibration under the mag section where you will have to turn your quad around all 3 axis for 360º in each axis for 30 seconds, so the mag can calibrate it's offsets and see if it's any better.
I've found on my tri, that after arming if I increase throttle, the tail servo will start to lean over to the right hand side until it is all the way over. As soon as I give any yaw input, it will return to center and behave normally.