ArduPlane 2.34 released
We've just released ArduPlane 2.34
This release includes one very important update for APM2 users, and a few other minor updates.
The main reason for the release is to fix a bug in the scaling of the MPU6000 accelerometers. We discovered that the MPU6000 on the most recently shipped APM2 boards had different accelerometer scaling than earlier boards. This resulted in bad attitude calculations which would get worse during flight (as the DCM code interpreted the conflicting information between the gyroscope and accelerometers as gyro drift). We now query the product ID of the MPU6000 on startup, and fix the scaling according to whether it is a RevC or RevD version of the chip.
If you use an APM2 with ArduPlane then it is strongly recommended that you update to the 2.34 release.
Other less critical changes in this release include:
- fixes for building ArduPlane with the MAVLink 1.0 protocol (we currently use the 0.9 protocol). In a future release this will be the default once all other components are ready
- expose a new parameter AHRS_YAW_P to control how fast the compass controls the heading. The default is 0.2, which should be good for most users (this was mostly added for ArduCopter users)
- fixed the reporting of the raw servo output value in the MAVLink logs. Previously if you uses a mission element to set a servo value (for example, for a bottle drop) the log would not reflect the servo change. The logged value is now obtained directly from the servo library so will always be accurate
- changed the default I terms for navigation roll and pitch to 0.1. It is very common to need a small I value for navigation, so a 0.1 default is better than 0
- make it possible to use UART2 for Telemetry. The APM2 has a otherwise unused UART2 port, which you can connect to the telemetry connector via a solder bridge. This adds a TELEMETRY_UART2 build option to configure the code to use this port. This is mostly useful if you have an onboard computer connecting to the APM2 via USB at the same time as you connect a radio to the telemetry port, and you want both telemetry streams active
Happy flying!
Replies to This Discussion
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Permalink Reply by Gábor Zoltán on -
Seams that it is not....
This would be a great add on! ;)
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Permalink Reply by Jake Stew on -
Why would you want to mix rudder with throttle? I could understand ailerons, but rudder?
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Permalink Reply by Gábor Zoltán on
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Ahhh it is a bit complicated.
It is a long story.
At first my opinion was that my wings are bent a bit, etc...
But it was not the case.
My plane is a Easy Star2. It is a "pusher". It has the airscrew right in front of the fin.
When i fly it engine off, can be trimmed perfect. But when i push up the throttle stick, the airflow around my fin changes dramatically, the airspeed and linearity also changes. It makes my plane go to the right, so i need different trim settings depending on throttle setting.
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Permalink Reply by James on -
i think, basically you need right and down thrust, i.e left and up for pushers, put 2 small washers on up right and down right corners of your motor mount and one washer on the left down, give it a try...
if your plane, doesn't dive a bit on foul throttle then put only one washer on each right corner.
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Permalink Reply by Gábor Zoltán on
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THX James,
I have already tried that. Did not help. The characteristic is the same.
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Permalink Reply by James on
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ok lets troubleshoot it, its acommon frame..
- you have no roll issues
-no pitch issues
-only yaw issues
- your trims are near center & youve done major trimming mechanicaly
- when you fly it with engine off, while pitch and roll errors are obvious, yawing isnt, also "perfect trimming" (how many kliks and witch side?)
- how much throttle engages the problem?
- maybe the boom is bent-> check it with a ruler in both axis
- maybe you need more right thrust (up to 4 degrees) only.
- if you have the folding prop, its more complicated ( more washers or unbalanced fins)
- maybe the rudder oscillates, full throttle on ground to check it out
- elevator isnt parallel in both axis with the main wing and rudder
i cant think anything else before you start mixing :)
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Permalink Reply by Gábor Zoltán on
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THX James,
What do you mean by roll issue?
Rudder also makes the plane roll.
The way i trim my plane is aileron when it is level i check if it goes off the "line". If it does then i give a bit of rudder trim, than level it by aileron again.
this way i am able to trim it. Like when it is flying engine off wings are level and not flying of "the line". even when i push elevator to gain speed.
The answer for your other questions, i have to check.
THX again! :)
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Permalink Reply by Gábor Zoltán on
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Deleted
Sorry. :)
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Permalink Reply by Gábor Zoltán on
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Today my APM1 made 24000 log!
Was also unreliable. Like did not want to react for failsafe.
For next takeoff when i switched to RTL the plane pitched down and rolled over almost crashed.
What does it means?
A do not trust in my autopilot anymore. :(
Please help me!
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Permalink Reply by Tim Gjernes on -
Just thought I'd add that I had a similar issue. I'm using the APM 1.0 as well. A few days ago, it was flying in auto mode while connected to APM Planner on the ground. It was descending at first even though the set altitude was higher. Usually it does this and then soon begins to climb so I let it continue in Auto, but then it suddenly pitched down very steep. I took RC control right away (just a flick of a switch on my RC transmitter) and pulled all the way back on elevator with full rates. The plane didn't seem to respond at all and went straight into the ground. There was about 2-3 seconds in manual before hitting the ground which should have been enough time to see a response if not a full, quick recovery in manual but it seemed like it didn't work at all. The log showed that the plane was, in fact, in Manual mode at that time and that it was about 65 metres above the ground before pitching down.
I'm not sure if the APM 1.0 is to blame (it could have been the RC or a connection issue) but based on analysing the issue after, APM or APM Planner seems to be the most likely cause.
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Permalink Reply by Gábor Zoltán on
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Yesterday i had another issue also.
I was flying in stab mode straight away. (Was about 2km away)
Than i noticed the plane does not reacts! Simply flying away in stab mode. Horror!!!
Than i switched the transmitter to RTL also. Nothing hapened.
I was holding up my radio and was jumping, than suddenly APM did react.
Think, not for my radio transmission because i still did not have controll. (my pan-tilt works directly from my receiver but it was in failsafe position, and could not move it.)
Than i have landed manually.
Than checked logs. There was something like 24 000!
There is serious error somewhere for sure. :(
But what really makes me anxious, is that i have no idea what went wrong.
After this, i cant even fly. I have grounded my plane till this is solved.
Davelopers!
Please help us find out.
Could it be, that i do something wrong?
What is it?
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Permalink Reply by Gábor Zoltán on
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Happened again, but now i have the video about it!
Does anyone knows what happened?
http://gabek.dyndns.org:28/ardu/2/error.wmv
My theory is that, as the camera went to the middle the receiver did go to failsafe mode, but APM1 did not react to this.
What could be the reason?
I have to find out somehow, because i will lose my plane for sure this way..... :(
Any idea could help!
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