Developer

Arducopter 2.0.24b

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. 

 

 

 

 

 

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Replies to This Discussion


3D RoboticsPermalink Reply by Chris Anderson on June 16, 2011 at 9:07pm
Great news. What's the best way for people to get this code?
Permalink Reply by Oliver on June 16, 2011 at 9:45pm
Jason, thanks for this! Working nicely. Alt, Position Hold as well as Yaw work nicely for me. Also the Field Level Feature is great. While the 20/40 second auto trim feature is great, having the old way available (CH6 > 2Secs) was nice as it could be done even in windy conditions as it was instantaneous. Trying to fly the quad stable in gusty winds for an extended period of time is not so straight forward.  Would it be possible to re-instate CH6 trim in the SVN in additon to the auto trim ?

DeveloperPermalink Reply by jasonshort on June 17, 2011 at 10:09am

I'll add an option for you in the next version

Jason

 

Permalink Reply by Oliver on June 17, 2011 at 12:08pm
Thanks!
Permalink Reply by Steven Harsanyi on June 16, 2011 at 10:45pm
What is #define BROKEN_SLIDER 0
this for?

DeveloperPermalink Reply by jasonshort on June 17, 2011 at 10:08am

I broke the slider on my IMU so I couldn't get out of CLI mode. With this set to 1, you can go right to flight mode. If you hold Yaw while starting up you'll enter CLI. It's was a quick hack and I forgot to remove it. But if people find it useful, I'll leave it in.

Jason

 

Permalink Reply by Oliver on June 17, 2011 at 12:09pm

Yes it is. My slider switch is a bit worn as well and I have been using this as well.

Permalink Reply by neil.elver on June 24, 2011 at 8:26am
Funny this is in the new code. My slider popped a solder point a few weeks ago (insert crash story here) and I ended up removing it completely after mangling a solder pad trying to fix it. To set CLI/FLY mode at boot I now jump the middle pin to either 5v or ground. I was thrilled when my basic Arduino skills of 'hi/lo' pin and looking at the eagle diagram saved me $150 and a new IMU. But this code workaround can mean one fewer wire on my copter.
Permalink Reply by Vincent Mees on June 17, 2011 at 1:46am

Correct me if I'm wrong.

The 10 second disarm is for leveling the quad on the ground like CLI "level" command.

The 20 sec arm is for leveling (fine tune) the quad in the air.

Thus 20 sec arm, leds will flash, lift off and fly as level as possible until leds go out.

Trim of tx should stay in the middle?

 

Permalink Reply by mc_don on June 20, 2011 at 10:52am

hi mees,

have you test for fine tune the quad in the air.?

Permalink Reply by Vincent Mees on June 20, 2011 at 11:52am

Not yet, to windy the last couple of days.

 

Permalink Reply by mc_don on June 20, 2011 at 12:39pm

ooo...

i will try tumorrow.

do u think i'ts safe?

20 sec arm--> yellow led blinking then fly

and try to fly level until yellow led stop blinking.

 

i'll see tumorrow :D

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