Hopefully the long road of beta is almost over.
I've done my best to address DCM drift issues. Again, this is not the ability for the quad to hold a perfectly level spot, it's the 20-30° error introduced by vibration and rapid maneuvers.
We've upped the gain on the DCM to recover faster. There is still room to tune these gains even more aggressively. I'll be looking for input from everyone on this. To edit the gains, go into system.pde.
To optimize the hardware, please be sure to add a windscreen to your barometric sensor and solder the filter pads on your IMU shield. A piece of felt works best. No closed cell foam.
To get the best yaw performance, calibrate your ESCs, and adjust any tilted motors. The copter should NOT yaw when lifting off. If it does it's you, not me! If you want higher performance Yaw, switch from the default to rate based yaw in APM_config.h.
I added two in-field calibrations to the arming and disarming gestures. Hold disarm for ~ 10 seconds to level the copter. Hold arm for ~ 20 seconds to fly in auto-trim mode for about 45 seconds. It will exit auto-trim automatically and fly normally. Don't worry about counting out the time, just wait for the flashing lights to enter either mode.
Alt hold has been re-written and uses a single PID for both Baro and Sonar. Baro has been more heavily filtered so the D term could be brought up. It's essential for smoother alt changes. It also helps that the internal PID integrator is the same value for both now. From 3 to 6 meters, the Baro altitude is mixed with sonar for a smoother transition. The alt hold PID could use more fine tuning, let me know your experience.
This version also now includes Randy's Heli code.
euh, yellow leds starts blinking much faster
I think you must see all leds flashing.
Pleas someone confirm?
Chris / Jason,
Could we please get a zip of 2.0.24 put up on http://code.google.com/p/arducopter/downloads/list for the non PC / non Mission Planner users
How do I know which version the mission planer will download,
and do I also have to to a new setup for magnetometer and so on?
Upgraded to 2.0.24 through the Mission Planner today and now my baro is crazy. No change in the hardware since yesterday's flights - my baro is covered with a small piece of foam from a pair of headphones, no sonar but I have magnetometer and GPS - and in 2.0.23 when I ran the altitude test in CLI over USB, with the copter stationary on my floor, it would fluctuate over about a 20cm range or so - I can't remember the exact value. In 2.0.24 it fluctuates more than +/- 200cm. Not surprisingly, flying in alt hold or loiter mode, it freaks out, takes off vertically or plunges down, but it hovers quite well in Stabilize.
I tried running with sonar again to test this. Putting the sonar back on, alt hold is very good down low, and once it gets to an altitude of 6' or so it takes off vertically. I don't have telemetry yet so I can't really watch what it's saying in flight.
I'll have a look!
jason.. please explain more details about the "level fine tune the quad in the air"
after 20sec hold arm motor
Hold yaw in the Arming position for about 20 seconds. The ABC LEDs will start to blink in a cycle. You can fly it in a windless environment now for about 45 seconds. It will use your stick input to correct the Accell offsets. After the minute is up land and your good. Nothing to do. It ends and saves automatically. I would suggest flying in a garage and flying about 3-4 feet off the ground so ground effects don't hit your copter and make it swing around.
before i using "level fine tune the quad in the air"
my QC is drifting to left
and i try to set level "level fine tune the quad in the air"
take of after yellow led blinking.
and i counter my remote to make the QC level.
after about 45 sec landing.
dis arm and arming again and take off.
now my qc drift to right.
what is my wrong?
"sory my english is bad :( "
waiting your respon