I've just released ArduPlane 2.68
This key features of this release are changed in the MPU6000 filtering, and several bug fixes (including HIL fixes).
The changes are:
The MPU6000 filtering changes are perhaps the most significant. We previously samples the MPU6000 at 200Hz and set an internal filter of 98Hz. The ArduPlane code then averaged over 4 samples to get a 50Hz update to DCM. Here is a graph of the accelerometer readings on my HotDog with the old code:
this is rather extreme, as I've setup my HotDog with the APM2 directly touching the fuselage close to the nitro engine. I wanted it to vibrate a lot to test the filtering, and it sure does! A value of 1000 on that graph is 1g, so we're seeing vibrational noise of about 6g in this plane.
I now fly my HotDog with INS_MPU6K_FILTER set to 10, which applies a 10Hz filter inside the MPU6000. We also run the MPU6000 at a sample rate of 50Hz, which means no averaging needed in the APM code. Here is a graph of the accelerometer readings now:
It actually flew OK with the previous code, as the DCM code is quite noise robust these days, but I do prefer making DCM work less hard, and it will help it to reduce aliasing and recover from attitude errors faster.
You can see graphs of other filter settings and also of the gyros for the same plane here. I think the default of 20Hz will be the best for most planes, but if you have a lot of vibration you can try 10Hz, like I now use for the HotDog.
Cheers Francois !
anyone realy fully success flight using arduplane?
i need buy "again" AMP2.5
and install to skywalker 168
DJamal, thanks for respon
have you try the waypoin?
how about PID setting? are you using stock PID?
yes.. and perfect!.. i send the PID's later for u...
im waiting my skywalker and amp2.5 now..:D
btw do you have build foto?
now im order condor too,
so ill copy all your parameter, :lol:
i dont want take a risk, just follow from the master :)
how about AMP position? on CG?
i see you have 2 antena, that's for Vtx and Downlink ringht?
and you put the module downlink on the wings too? or install a to antena?
how about GPS posision
sorry, i afraid to crash. because i have see many friends fail, so i think part position is important
thank and sorry to many ask :)
my i know your prop size?
1200KV with 4 s i think about 8x4 or 7x6 CMIIW
Thank you very much. Very appreciated!