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.
How can I set the maximum angle the copter will tip when it's flying in auto mode? Is there a parameter for this?
The reason I want to set this is because when flying in auto mode, if it's windy, when flying into a headwind, the copter will lose altitude and crash because it tips so far into the wind that it doesn't have enough lift to maintain altitude. 3.01 seems to be much more aggressive than 2.9.1 was in regards to this.
I posted this question a few weeks back with no reply.
I would think maintaining altitude would take priority over maintaining ground speed.
It seems logical to assume this...
Bill, I saw a note about this for 3.1.. limiting options range from 10 to 80 degrees (I'd prefer 85 Randy if you're watching... ) so until then maybe have a look at your speed settings for Auto? Don't know if that applies, but curious how fast it is trying to go vs wind speed.. Would setting a slower speed be a short term fix?
Yes, I already slowed it down a bit in auto mode. This certainly helps.
The fact that speed takes priority over altitude in the flight control software seems backwards. That said, the 3.0.1 software is AMAZING and works very well.
I've got a FW550 frame with extended landing gear and a RC Timer brushless GoPro mount, so it's a bit heavy. My motors are 750kV with APC 10x4.7SF props running on 3S power, It flies very well, but with this much weight, I should really go to 4s for a bit more power. This would help as well.
Thanks for the reply.
Are you sure its not just the additional headwind messing with the barometer? How do the logs look - does the craft think its maintaining altitude - you should look a that first (or, <broken record mode>post logs</broken record mode>).
Great points. I need to run some more tests to be 100% sure, but I'd bet money this is what is happening. When I had the issue, there was a pretty strong headwind and I had a long upwind leg in the mission plan. When changing course to this leg of the mission, he hex just kept tipping more into the wind trying to maintain ground speed and started losing altitude. I caught it and switched into stable mode and recovered, but it would have plowed in if I had left it in auto mode. The same thing would happen in stable mode if I tried to maintain that ground speed into a similarly strong wind. The motors would be running full and there just wouldn't be enough power to maintain both speed and altitude.
After some additional thought, this outcome may be better than a fly-away if someone was in a really strong wind the the flight controller gave up on speed to maintain altitude.
I guess when you get to the edge of the flight envelope, there are no perfect software solutions for all circumstances.
Overall the team did a really remarkable job with the 3.0.1 release.
This is off topic for this thread, but I'll post it here as it may help others. If we want to continue this discussion, it should likely be PMs or a different thread.
First, I'm using the RC Timer controller board. Software version is 049 r156. It works well, but the gimbal MUST be balanced very well and the wires to the accelerometer board must be routed so that there is very little drag on the gimbal.
I had driver issues and couldn't get the config software to run, so to tune it, I just kept changing the defaults in the code and uploading the code with Arduino.
Yes, I know.... this is dumb, but it was the quickest way to an end. :-)
Here's the current settings. I've just got an original GoPro (1.0 I think?)
config.vers = VERSION;
config.versEEPROM = VERSION_EEPROM;
config.gyroPitchKp = 19000;
config.gyroPitchKi = 25000;
config.gyroPitchKd = 30000;
config.gyroRollKp = 30000;
config.gyroRollKi = 8000;
config.gyroRollKd = 40000;
config.accTimeConstant = 7;
config.mpuLPF = 0;
config.angleOffsetPitch = 0;
config.angleOffsetRoll = 0;
config.nPolesMotorPitch = 14;
config.nPolesMotorRoll = 14;
config.dirMotorPitch = 1;
config.dirMotorRoll = -1;
config.motorNumberPitch = 0;
config.motorNumberRoll = 1;
config.maxPWMmotorPitch = 32;
config.maxPWMmotorRoll = 80;
config.minRCPitch = -120;
config.maxRCPitch = 120;
config.minRCRoll = -30;
config.maxRCRoll = 30;
config.rcGain = 5;
config.rcLPF = 20; // 2 sec
config.rcModePPM = false;
config.rcChannelRoll = 0;
config.rcChannelPitch = 1;
config.rcMid = MID_RC;
config.rcAbsolute = true;
config.crc8 = 0;
If you have the V3 of the board this thread might help, I had a hell of a time tuning it and getting it to even act normal but eventually I prevailed: http://garagepilots.com/forum/topics/goodluckbuy-gimbal-arrived-tod...
Richard, also a bit OT here, but I've had success with "using around 40 PWM, my P's are quite low (5-6) and I's quite high (40-60), D's = 20-40"