I'm delighted to announce the release of ArduPlane 2.50 for your flying pleasure. This release has a lot of advances to some of the core ArduPlane code, and should be a big improvement for many people.
Perhaps the most important change in this release is the new DCM code that does acceleration correction based on the GPS. This improvement is based on work by Bill Premerlani which really advances the state of the art for attitude estimation on small microcontroller based autopilots. The improvement in attitude estimation is very noticable in flight, resulting in significantly more accurate control. Many thanks to Bill for his patience in working with Jon Challinger and myself to bring this improvement to ArduPlane.
Other significant improvements include:
There is one change in this release which may require some re-tuning. We were using the wrong value for time delta when using the PID controller for navigation roll. This has been fixed by making the PID library calculate the delta time internally, but it means that existing HDG2RLL_I and HDG2RLL_D values will be incorrect. I have fixed the defaults, but if you have your own settings for these, you will need to drop HDG2RLL_I by a factor of 5, and raise HDG2RLL_D by a factor of 5 to get the same result as for the previous release.
Thanks to everyone who has contributed to this release!
For the next release the plan is to concentrate on improved stabilisation and navigation controllers, based on the great work being done by Jon Challinger.
WOW thx a lot.
Hmm strange can't compile it with the arduino-0100-relax with the 2.4 there wasn't any problem.
Has something changed do I need to take the "real" arduino IDE?
EIDT: OOOPS my fault didn't copy the whole zip into the sketch folder :)
Is there a way to have altitude hold flight if I do not have an airspeed sensor? I would like to be able to just fly around at a constant altitude.
Altitude hold works fine both with and without an airspeed sensor. The only time when an airspeed sensor is really critical is when you are flying close to the stall speed, which usually only happens when you are landing.
The reason that I am confused is because I don’t know what mode to use. I don’t see an Altitude Hold Mode. FBW-B looks like the mode I want but it says that it won’t work without an airspeed sensor and reverts back to FWB-A, which is NOT Altitude Hold. So you see why I am confused?
sorry, I thought you meant in auto modes like AUTO and LOITER. You are right that it doesn't work in FBWB and we should fix that.
Gongrats once again team,
i have never tuned HDG2RLL_I & D, so i dont exactly understand what it does, neither i undestood the bug on release notes. My platform follows waypoints like a train with stock PID's and 2.4 firm (APM2). What should i expect if i update? should we wait for a fix release?
thanks you all.
Thanks to those who made it possible.
Can I use the same bixler parameter file that I was using with version 2.4?
I would suggest not to do so...I tried it yesterday and I got weird behaviour
Is it possible to make a quary of climb rate?
I have tryed it but does not works.
The climb rate is logged as VFR_HUD.climb in mavlink.
Thank you Anrew!
Somhow it did not work in 2.40. for me.
But it works in 2.50. :)