Warning #1: Compass calibration and reducing interference is far more important than with 2.9.1b
Warning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).
Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).
Warning #4: loiter turns does not maintain altitude. This bug will be fixed in AC-3.0.2.
Warning #5: This release has only been lightly tested on Traditional Helicopters.
Improvements over 2.9.1b include:
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
How to upgrade:
1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)
2. Click on the MissionPlanner's Hardware, Install Firmware screen. The version numbers should appear as "ArduCopter-3.0.1", then click the appropriate frame icon and it should upgrade as per usual.
3. Reduce the Loiter and Alt Hold PIDs if you have modified them from the defaults. The modified PID values for the 3DR frame can be seen in the image below.
Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.
5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Numerous How-To videos are available:
Special Thanks to Marco, DaveC and the large number of testers on the pre-release thread who put their copters at risk during the extended testing period. Some of their videos can be found here, here, here, here, here and here. Thanks also to MichaelO for the MP changes required for this release.
All feedback welcome. Please put your questions, comments (good and bad!) below.
I did notice that my HUD was showing a pitch offset while the quad was level on my table.
Do you have any thoughts on what this could be related to and eventually how to solve?
Re the ESCs, it should be possible to calibrate the SimonK firmware ESCs unless the firmware is a really old version.
I think running the set-up-->level command is bad and wipes out the results of the accelerometer calibration. Sorry, I've been meaning to replace that with a method that updates the AHRS_TRIM_X and AHRS_TRIM_Y parameters which is the right thing to do.
It definitely seems like something is going wrong in the accelerometer calibration. You're not using a really old version of the mission planner are you? I'm using 1.2.61 but anything above about 1.2.53 should be fine. I'll bet if you went into the Mission Planner's Software > Adv Parmeter List screen and set AHRS_TRIM_X and AHRS_TRIM_Y to zero that the HUD would become level again.
Will have a try with some other ESC's to be sure to eliminate all.
Keep you posted...
I replaced the ESC's to exclude this from being the source of the bad tracking but no joy.
I still have the tracking issue in the pitch.Yesterday I hooked up all the motors directly to the receiver throttle pin to make sure they all spin at the same speed (measured via RPM device). They were all rotating at the same speed.
I did notice that when quad is armed and running at idle speed on the APM (just a bit of throttle and keeping it that way) that after a few seconds 2 motors start to spin up more (possibly due to pitch tracking issue?)
The APM is fixed to the frame via the HK foam and the quad is perfectly level.
Any idea what else I could check to detirmine the cause for this bad tracking?
the motors increasing when you're sitting on the ground is because the heading is changing slightly. Two motors are increasing and two are decreasing but the overall noise level goes up. Put the throttle to zero for a moment (which resets the target heading to the current heading) and it will stop (of course it will then start building up again though).
I think I mentioned somewhere else on this thread that the misison planner being 10degrees off was a mission planner bug. It's fixed in the latest version so if you upgrade that problem will be gone.
As for the desired pitch vs actual pitch being incorrect in the logs...maybe you should just increase the Rate Pitch P and Rate Pitch I by 20%...or maybe try increasing the IMAX to 10 (default is 5).
Thank you for the feedback.
Indeed the MP bug is fixed, I immediately upgraded to the latest version when the fix was introduced.
On the pitch tracking I will try as you suggest.
Is it correct to say that it is not hardware related but more due to my parameter settings being off? As I didn't have this in previous quads I build it still makes me think I did something wrong in this hardware setup.
It's possible it's a hardware issue. You might want to enable the individual motors in the dataflash logs (disable the IMU though 'cuz otherwise it's just a lot of logging going on)...and then we can see the individual motors. If there's something wrong with a prop direction or something we might see a big misbalance in the motor speeds.
Could you take a look at the log file when you find the time?
I hope you will be able to determine the source of this issue or able of pointing me in the right direction.
Well, there is a motor imbalance. You've made it easy for me here by including the graph. So the top motor is normally at 1650 while the bottom motor is at 1500. So a difference of 150 is significant (that means it's running at about 20% faster). From the motor pictures on this page it looks like it's the front left spinning fast and the back left spinning slowly. The two right motors seems to be pretty much together. That's a bit unusual...is the center of gravity off? something heavy on the front-left side of the copter?
Thank you for having a look at the graphs.
The quad is fully symmetrical, front left and right are exactly the same.I'll have another look again at the hardware but as far as I can see everything seems to be correct. Same motors, props, directions, esc calibration etc.
This puzzles me as I never had this before and this is not the first quad I build.
Could it be that the APM board is off in some way? Like not fixed straight or under a slight angle?
Great Job, thanks :) my first cuad with 2.91b had problems to mantain alttitude hold and loiter,and unstable in windy days; updated to 3 and solve the problems, now perfect loiters and I can fly in windy days too; I closed with tape lateral pins near the baro because if I blow there, the altitude go down, i supose that help too