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.
ok thank you very much!!
Rui is right, I will create an image with correct scaling when I'm at home.
Thor, In my opinion THR_Mid is not affecting the Alt_hold controller and is used only for stabilise. It does only influence Alt_hold when your stick position is outside the 40-60% deadband, due to a wrong THR_Mid setting. So if you fly stabilise with 60%(61%) stick, the Althold controller will interpret that as climb request. You fly with 45% stick, so that should not be the issue.
But as I mentioned before your THR_Accel PIDs are to high. P default is 0.75 and I default is 1.5. In past Randy gave us advice to lower these values if copter is climbing. Please try that. Also Rate R/P "I" back to 0.1. If your copter is underpowered then only increase "P" (as you did already)
thanks Christian, i dont remember it being that way in 3.0.1. infact this same aircraft, in a slightly different form, use to hold altitude very well before RC7. i will go thru the settings today, adjust where you mention and take it out flying to see the results. thanks for all your help, it is appreciated
I have a situation (don't know if I can cal it a problem). When I set Vertical Time Constant (INAV_TC_Z) to 0, altitude constantlly increasing. And not in a linear way, it seems to be adding to previous value. Anyone tryied to set this to 0 ?
I didn't test that but in some cases you can get a division by zero error in calculation. So if you still want to try that than use numbers closer to 0 such as 0.01 or 0.1.