Developer

ArduPlane 2.60 released

I've just released ArduPlane 2.60

The main new features in this release are:

  • wind estimation
  • long term dead reckoning support
  • wheeled takeoff and landing support
  • optional new roll/pitch/yaw controllers from Jon Challinger

For a description of the first 3 new features have a look at my previous post. All of these features have been test flown on my PulseXT 40 and have performed very well.

The new roll/pitch/yaw controllers from Jon can be enabled by building with

 #define APM_CONTROL ENABLED

in your APM_Config.h. If you enable the new controllers then I strongly suggest you read Jons blog post about the new controllers and how to tune them. These controllers are still experimental, but if we get good feedback on them from users we will quite likely adopt them as the standard controllers in a future release.

Other changes in 2.60 include:

  • a new RECEIVER_RSSI_PIN compile time option, to allow you to display receiver RSSI via MAVLink. This should be useful for FPV flying.
  • an important fix from Jason Short for an erase bug in the dataflash. If you use dataflash logs then please erase them after loading this release to ensure the pages are properly initialised.
  • support for the new features in the new MTK GPS firmware
  • updates to the configuration parameters for the Mount code. If you use the mount code, then please check your parameters carefully, as some things have changed.
  • a fix to the JUMP command in missions, which solved a problem where the wrong command could sometimes be run
  • a fix to the initial yaw from AHRS when using a compass
  • new FENCE_ACTION_REPORT value for FENCE_ACTION
  • new "OBC" failsafe code as a compile time option
  • new RST_MISSION_CH option
  • new STICK_MIXING option
  • support for dual stabilisation mounts (eg. one camera and one antenna)
  • removed old CLI switch and dip switch support
  • fixed a derivative filter bug that could have a small affect on AHRS attitude
  • fixed LOITER_TIME to match MAVLink spec (time is in seconds)
  • added FBWB_ELEV_REV option

Happy flying!

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Replies to This Discussion

Permalink Reply by palo sestak on August 28, 2012 at 1:12pm

Today I tested my SW168 with Arduplane 2.6.

It flu twice.

First way was almost 7km long with 8 waypoints. Last WP was LOITER_UNLIM. No problems on that.

Second trip was only 3.4km long with 4WPs but 300 meters camber. It was way there and back. Again no problems with it.

The only word I can say is reliable and with suggested parameters from WIKI/APM for SW168 flies really good and stable.

Good works guys, thanks for the version 2.6. 

Remarkable is my APM1 is only 1280 so memory limits are unpleasant, no logs, hardcoded GPS_PROTOCOL, no CLI, etc. And with this memory limits and Arduplane 2.6 it flies really good.

Permalink Reply by Manu on August 28, 2012 at 2:08pm

@Palo: Good to see that a SW168 is running fine with all the new software! I'm currently going through the last settings of a SW168 / APM2 /AP2.6 as well, just wanted to confirm with you that the config file (parameters) which worked for you were the one you can find on http://code.google.com/p/ardupilot-mega/wiki/ConfigFiles ? there might not be any other anyway....

Did you have to change any particular param ? I might have read somewhere that the current SW config file was not 100% adapted to AP2.6 ? but I could be wrong...

Anyone else with further comment on that ?

tx to all - keep on the good work APM/AP people :-)

Permalink Reply by Eagle on August 28, 2012 at 5:27pm

I agree with Manu.  Always good to read about successfull flight.  Thank you for your report Palo.  I'm almost done with my Bixler II setup.  Need to adjust CG and it will be ready to go.  Maiden flight is schedule for next weekend. Question: Palo, did you use stock controller or enabled Jons's controller?

I intend to use stock controller for the first flight but if all goes well.. can't wait to try it.

Eric

Permalink Reply by palo sestak on August 29, 2012 at 12:42am

@Manu:I used this one config file :

http://code.google.com/p/ardupilot-mega/downloads/detail?name=skywa...

I only changed loiter and WP radius other stay untouched.

@Eagle: only stock controller used, didn't want to experiment that soon. Perhaps on next flights...

Permalink Reply by Eagle on August 30, 2012 at 5:58pm

Thx palo. I will stick to stock controller for now.  please let us know if you try it.

Permalink Reply by palo sestak on August 31, 2012 at 7:54am

My tests will take longer - I lost my Skywalker (not APM failure, just preflight check omited),

I have to take another bigger plane (mine Bluespy 2600mm) and adjust params for it.

Permalink Reply by steve F11music.com on August 30, 2012 at 5:32am

I just installed 2.6 on a APM1.4 and am having problems entering CLI mode. I tried 3 returns which normally work but instead it just shows text saying that it's initializing demo servos and then calibrating IMU and then ready for flight. What would prevent it from entering CLI mode or is there some other way I can enter it? I've tried the switch on the board that use to be used but that didn't work either. I have a thread started in the arduplane group.

http://diydrones.com/group/apmusergroup/forum/topics/gps-stopped-wo...

Permalink Reply by Mike Mac on August 30, 2012 at 9:24am

Looks like Mission Planner 1.2.10 has solved all my Write Mission problems with 2.6. I suspect that it was some sort of a timing problem?

Permalink Reply by jim C. on August 31, 2012 at 7:38am

DO_REPEAT_SERVO not work.

Hi Andrew, I'm making with evidence; DO_REPEAT_SERVO command but does not work in arduplane 2.6, when I use this command HIL sumilador funcioan well.

special settings for this command?

thanks
jim

Permalink Reply by steve F11music.com on September 1, 2012 at 4:31am

I'm having a problem with GPS not being recognized with 2.6 on 2 different APM1.4/1280 boards. I've tried 4 GPS units but am getting nowhere! I've put the details here and would appreciate if anyone has any clue to how I can solve this. I can't even get into terminal mode on either so my testing is limited.

http://diydrones.com/forum/topics/gps-simply-not-working-no-matter-...

Permalink Reply by Martin Poller on September 1, 2012 at 5:04am

Hi F11music.com,

Not sure but this might be related, I've loaded Ardupilot 2.6 HIL on to my APM1 1280 and 2560 and cannot get any GPS data to the mission planner, the plane will fly, but the GPS data that X-Plane 9 generates does not seem to be getting fed back. 

See my post

http://diydrones.com/forum/topics/where-can-i-find-depreciated-hil-...

Joshua Beltz reports a similar problem with 2.6 HIL.

I am going to try to roll back to version 2.5 to see if this works.

I know that X-planes is generating the GPS data, and I think that you've concluded that your GPS modules are working, it's just like there is some sort of blockage in feeding the GPS data back to the APM.

I know that HIL doesn't use the actual GPS unit but maybe the cause of the blockage in the transmission of the GPS data is the same in both cases.

Best regards

Martin

Permalink Reply by Gordon on September 1, 2012 at 6:11pm

This question was posted by Mike back on page 3 and doesn't seem to have been answered.

"Where can I find more information about the "support for the new features in the new MTK GPS firmware" new feature?"

Is this just 1.6 or is there a newer version available?

Thanks

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