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.
Glad I could help! Thats what these kinds of forums are for - sharing the knowledge...
I'd like to thank everybody for implementing the GPS glitch protection as i suggested in the past. It works fine for me now with Ublox NEO 6M. I've set the radius to 5m.
Now I've seen in U-Center, that GPS can show it's own Declination. Is there a possibility to use that information for APM vector calculation instead of "user values"? Isn't it better to believe in the GPS value? So you could do an exact calculation for the negativ vector.
The reason I ask is that on some special days I still have TBL effects. But not every day. Maybe there is a small drift after decimal point.
We have a lookup table in the APM so there should be no need to specify the declination by hand. Toilet bowling wouldn't be caused by small differences (like a degree or two) in the declination. It takes much larger incorrect values to produce toiletbowling..more in the order of 20degrees although it depends a bit on how fast forward you're travelling.
I'm not saying 'no' to using the ublox, I'm more saying that I don't think it's likely that using it will cure the copter's toiletbowling because the small declination differences are a drop in the bucket compared to other factors like motor interference. Have you measured the interference on the copter using the tlogs or compassmot?
Had an almost 'flyaway' in Loiter today with v3.1-rc7, was loitering after testing a few things and suddenly the quad shot off NW for no reason, I let it go for a second and then switched out of Loiter to save it from hitting a tree.
Any ideas why the sudden departure from normal Loiter
Attached is the tlog, (some params were changed a little during the flight.)
It could be a GPS Glitch. If you graph the hdop around that time you'll see it jumps to 1.9 (which is not a terrible number but much higher than the 1.58 you had previously). It's possible this glitch was not big enough to be caught by the GPSGlitch protection perhaps because it's impossible to catch all glitches or maybe we don't have the parameters (GPSGLITCH_RADIUS, _ACCEL) set tight enough (lower is tighter).
tlogs don't provide a lot of information about the controllers and errors so a dataflash log would be better if you have one.
Randy, here's the dataflash log, just had the defaults enabled, I think.
Waypoint distance and bearing seem to jump at that precise point, so maybe it was a GPS glitch.
Finding a GPS glitch in the logs is always a bit tough because there's nothing to compare the position to (which is also why the APM can't tell it's a glitch). If it's a glitch then it's not a very big one. The position moves 12m in 1 second. For our glitch protection to catch that the GPSGLITCH_RADIUS would need to be about 150 or 175. One other user set it as low as 200 and didn't seem to get any false positives. I think we need some brave souls to try it out at 175. The danger is just that we will get too many false positives so it'll switch into LAND mode especially when you get the copter flying around at high speed (in a mode that requires GPS).
What about running a second GPS for reference? That should clean everything up and the referencing shouldn't be too hard to prog? Just a thought.. Cheers
Running ArduCopter 3.1-rc7 on small H-quad. These ESCs on this quad are Plush 18a took from my old stock. The motors are very sluggish. And found ESC Update Speed (ArduCopter:RC_SPEED) has been set to 490Hz, I just do not know when. After lowering this value set to 400Hz and looks fine at this moment. Any sense?
I think you've reported a number of issues with your board. I think that board has a hardware problem and should be returned or replaced.
The only thing that I can think of regarding the strange parameter values is:
1. the eeprom on that board is damaged
2. you're saving your parameters to a file and then bulk loading them back up to the board (this may eat up a lot of eeprom space and lead to problems).
If you're not doing #2 then I think it's #1.
You might try going into the cli, setup, reset, "Y" and then re-do the set-up but if you continue to have problems it is very likely that the board has a hardware problem, possibly with the eeprom.
i didnt save any parameters and bulk load them...how can i check eeprom(wich i erased bcs i did clean instal of rc7...and rc5 and rc6 as well)
what do you mean when say "... try going into the cli, setup, reset, "Y"..." what is "Y" ?