Developer

Arducopter 2.0.34 Preview

Hi All, 

I just posted a new experimental version of Arducopter with new PIDs and control laws for Yaw. It's download only for now and I wouldn't recommend trying it unless you can rigorously test it. Please be careful. I've flown this in Stable, Simple, Acro, Loiter, and Alt Hold with no known issues. But you never know! This version is not yet compatible with the mission planner.

 

What's new:

New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition!

Before: ->  After

Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)

Stabilize I –> Stabilize I (Stays same value)

Stabilize D –> Rate P (Stays same value)

–> Rate I (new)

 

I added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.

I added the framework for using DCM corrected Accelerometer rates. Code is commented out for now.

Added set home at Arming.

Crosstrack is now a full PID loop, rather than just a P gain for more control.
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions

Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.

 

Jason

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Replies to This Discussion

Permalink Reply by Jose Angel on July 10, 2011 at 10:10am
I have made a quick test flight and yaw is ok but pitch/roll stability was better in 2.0.33... I don't know if today is more windy that the last days.......

I also noticed that default ROLL/PITCH P values have changed:
2.0.33 -> 4.0 (0.48)
2.0.34 -> 4.5 (0.54)

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

I had a really good flight last night. 

lower your RATE_ROLL_P, RATE_PITCH_P to         .12
make RATE_ROLL_I and RATE_PITCH_I  0
lower STABILIZE_ROLL_IMAX and STABILIZE_PITCH_IMAX to .5
From there you can increase RATE_ROLL_I and RATE_PITCH_I back up for more testing.
I think most of my problems were from Rate P being too high.
Jason

Permalink Reply by Michal Rusina on July 10, 2011 at 10:25am
do i understand right that the STABILIZE-ROLL/PITCH_D are not used anymore and instead of them i have to use RATE_ROLL/PITCH_P? im flying in stabilize mode for now...

DeveloperPermalink Reply by jasonshort on July 10, 2011 at 10:27am
They perform the exact same function. D is a rate controller on it's own. I just split it out to get the second I term for better Acro performance.
Permalink Reply by Michal Rusina on July 10, 2011 at 11:02am
so i have to tune only RATE_ROLL/PITCH_P? sorry for stupid questions, im quite new to all of this.
Permalink Reply by Michal Rusina on July 10, 2011 at 11:48am
found (probably) a bug in 2.0.34. when taking of, the copter wont spin the back right motor unless its throttle is over some threshold, mostly somewhere around 50% throttle. this causes that the copter leans on one side. in 2.0.33 this wasnt present. i switched them 3 times and .33 was always ok, while .34 not. check out the vid. my copter weights approx 1kg and my pid d are lowered to 0.10 in both firmwares.

3D RoboticsPermalink Reply by Chris Anderson on July 10, 2011 at 12:16pm
Michal: that sounds like one of your ESCs needs recalibrating, not a software bug. Might as well
Permalink Reply by Michal Rusina on July 10, 2011 at 12:30pm
i tough about that, but why its not good in .34 and all good in .33 then. and how its possible to loose calibration of escs while switching sw versions?

3D RoboticsPermalink Reply by Chris Anderson on July 10, 2011 at 12:58pm
I don't know why ESCs sometimes lose calibration, but they do. Just try recalibrating.

DeveloperPermalink Reply by Olivier ADLER on July 10, 2011 at 1:20pm

 

Did you disconnect ESCs before firmware uploading ?

 

It's a known problem and has been reported and discussed in the issue tracker  :

 

http://code.google.com/p/arducopter/issues/detail?id=177

 

 

Permalink Reply by Michal Rusina on July 10, 2011 at 2:06pm
its okay to disconnect only the lipo? maybe i forgot to do this. will try it tomorrow. thanks!

DeveloperPermalink Reply by Olivier ADLER on July 10, 2011 at 3:39pm

 

No you must disconnect the ESC signal lines so that they don't receive perturbating signals.

 

see here in the wiki :

 

http://code.google.com/p/arducopter/wiki/AC2_First

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