I don't know if what you are describing is actually "leans". That might be more of an aerodynamic effect which just can't be compensated because you probably don't have a Stab I term (I never did). It could also be because you have AHRS_GPS_USE set to 0 (again, this was normal). So this is also fixed with the new code.
Thanks for the reply
I think I wait for the new code, and then we will see.... I’m sure it will be fine.
I just tested 4 more battery packs on my 450, this time testing what is to become 2.9 release (all the changes I've talked about in this post still apply.) The main difference being that I used the new Accelerometer augmented Alt_Hold.
My testing showed it was good, really REALLY GOOD!
Major props to Randy and Leonard for all their work on this. Simply put, the altitude is rock-solid. Very stable even with the flighty 450. I was expecting to have some problems, and have to hack it to get it to work on a helicopter the same way I had to for rate based attitude control, but I didn't.
I even tested it in some fast forward flight, and it was perfect. I could just cruise around the skies without touching the cyclic. Even if I got going forward fast, and pulled back hard on the cyclic, it only gained about 10 feet, and I'm still working on tuning it, I think it can get even better.
What a pleasure to read your report, I guess you had a warmer day for testing :-))
I see this system gets better and better every time because of the hard work and passion of you guys.
Thank you so much for that.
Rob I’ll send you more warm days from New Zealand for easy testing...
and I wish you and all the developers a pleasant and happy Merry Christmas and New Year
My T-Rex600 is finished, just waiting for the missing parts (GPS, Sonar and 3DR Radio)
I’m so excited about heli 2.9
My new APM2.5 and RX in one box...
Warm? Pssht! It was -2C and windy! And dark. But I'm a hardcore tester. ;)
Hey, that box is cool, what is it? Custom made, or you hacked a standard box?
It’s a hacked standard box, works very well, less external wiring. And it looks like, vibration = 0.
And what are those yellow mounting things? Ear plugs?
Yes Ear plugs, there are so great for vibration damping, and you need not to glue them on, just pull them through a 5mm hole, and they lock them self in.
Two more battery packs last night, tuning up the Alt_Hold gains even more. Alt_Hold is working totally awesome. Last night, from a hover, I push the stick hard over to the left, and the heli zips off to the left only losing a few meters of altitude. Then when it's moving fast, you can throw the stick hard right so the heli comes to a screeching stop, and it rises just a few meters. I'm not sure I can do better myself.
It's actually almost surreal flying like this now, not having to manage the collective.
I'm pretty sure we will now be able to fly missions at 20m/s without all the problems we had before. It might still get into an altitude/velocity oscillation called a "phugoid" but I don't think it will simply crash into the ground as before.
Great news all of this, nice one Rob. You are gonna have to recoomend a trex-600 alternative for me soon I think.
I'm really liking the 550-stretch I'm building. Nice and simple. It's a bit of a Frankenstein. Built almost completely from aftermarket upgrades. You can build a really nice machine for the price of an Align kit. I started with Tarot 550 2mm CF frames, and went from there. All metal bottom-plate, etc. Very heavy duty. Can't wait to fly it.
Another option might be the Tarot 500 kit. I really like the Tarot parts. A 500 might be a nice way to start out, sort of wish I'd done that rather than the 450 which is a bit small.
BTW, just did another HK order, had some extra weight to use up on the package, so I ordered a F330 frame kit. Bit late for Christmas though, unfortunately. Unless I got really lucky!
Ah sh1t, I've got a spare sat here, you could have had that! I've just stuck some big ntm's on my 330, with 4s and 8 inch graupners, CC3D test bed. It''s an FPV animal, I reckon if hollywood commissioned it I could just about muster a Bee-Movie traffic dodge scene :)
Re. helis. I really want to go 550+, maybe even 7s. Ive had a lot of fun with 440/450s, I want to start with a 'platform' this time, not a rabid squirrel ;)
I'll have a look at tarot, cheers.