ArduCopter v2.4.1:beta test flight of LOITER (GPS Position Hold)

Here a video of a LOITER test flight of the firmware ArduCopter v2.4.1 (beta) with the latest fix on STAB_D and Throttle.

This version tested include the auto-land mod XP2

Regards,

Jean-Louis

Tags: ARDUCOPTER, BETA

Views: 1939

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hi jean-louis,

i am not a fan of what is happening with the control laws on acm.

try to set the stab_d term to zero.

finally i hope to fly this weekend.

best robert

Here a video of a test flight of the latest firmware ArduCopter v2.4.2 (beta) with the new fix on DCM and the magnetometer setup. This v2.4.2xp2 (beta version) tested in flight also include the AUTO-LAND and Helicopter type H1 (HIL) mod XP2 (JLN).

Wind: 15 Km/h from N-W

The LOITER (baro only) is very stable in spite of the wind and there is no drift in the yaw. The flight is very stable.

Regards, Jean-Louis

hi,

compile error with 0100-relax


ArduCopter242xp2.cpp: In member function 'void GCS_MAVLINK::queued_param_send()':
ArduCopter242xp2.pde:-1: error: no matching function for call to 'AP_Param::copy_name(char [15], unsigned int, int)'
C:\Users\utente\Documents\arduino-0100-relax\libraries\FastSerial/../AP_Common/AP_Param.h:101: note: candidates are: void AP_Param::copy_name(char*, size_t)
ArduCopter242xp2.cpp: In function 'void calc_loiter(int, int)':
ArduCopter242xp2.pde:-1: error: 'class AC_PID' has no member named 'set_integrator'
ArduCopter242xp2.pde:-1: error: 'class AC_PID' has no member named 'set_integrator'
ArduCopter242xp2.cpp: In function 'void calc_nav_rate(int)':
ArduCopter242xp2.pde:-1: error: 'class AC_PID' has no member named 'set_integrator'
ArduCopter242xp2.pde:-1: error: 'class AC_PID' has no member named 'set_integrator'

and with 0022-relax


ArduCopter242xp2.cpp: In member function 'void GCS_MAVLINK::queued_param_send()':
GCS_Mavlink:1678: error: no matching function for call to 'AP_Param::copy_name(char [15], unsigned int, int)'
C:\Users\utente\Documents\arduino-0022-relax\libraries\FastSerial/../AP_Common/AP_Param.h:101: note: candidates are: void AP_Param::copy_name(char*, size_t)
ArduCopter242xp2.cpp: In function 'void calc_loiter(int, int)':
navigation:150: error: 'class AC_PID' has no member named 'set_integrator'
navigation:151: error: 'class AC_PID' has no member named 'set_integrator'
ArduCopter242xp2.cpp: In function 'void calc_nav_rate(int)':
navigation:220: error: 'class AC_PID' has no member named 'set_integrator'
navigation:221: error: 'class AC_PID' has no member named 'set_integrator'

can you help me please?

Hello Andrew,

I have just updated the 2.4.2xp2 beta version, and the compilation is now OK. Sorry, I have forgotten to update the library in the zip file. You may download it again HERE

Good tuning,

Jean-Louis

thanks for reply,

but does not work

here is the error on a new installation of 022 arduino relax:


ArduCopter242xp2.cpp: In member function 'void ::GCS_MAVLINK queued_param_send ()':
GCS_Mavlink: 1678: error: no matching function for call to 'AP_Param :: copy_name (char [15], unsigned int, int)'
C: \ Users \ user \ Documents \ arduino-0022-relaxpatch \ libraries \ FastSerial /.. / AP_Common / AP_Param.h: 101: note:Candidates are: void AP_Param :: copy_name (char *, size_t)
ArduCopter242xp2.cpp: In function 'voidLog_Write_Performance ()':
Log: 650: error: 'class AP_DCM' has no member named'renorm_range_count'
ArduCopter242xp2.cpp: In function 'void calc_loiter (int, int)':
navigation: 150: error: 'class AC_PID' has no member named'set_integrator'
navigation: 151: error: 'class AC_PID' has no member named'set_integrator'
ArduCopter242xp2.cpp: In function 'void calc_nav_rate (int)':
navigation: 220: error: 'class AC_PID' has no member named'set_integrator'
navigation: 221: error: 'class AC_PID' has no member named'set_integrator'


the compilation of version 2.4.1 is ok

the compilation of your file is ok ArduCopter_224xp2.zip is ok

thanks

Hello Andrea,

You need to use the library included in the zip... Copy and replace your old library by the new lib included. I have checked again on Win7 and XP with Arduino022 relax and its ok for me...

Regards, Jean-Louis

Thanks for your time and response,

I know the simple steps, I do it often

but this time not compile

I wanted to take this opportunity to thank you for looking goodwork you do

keep trying

hello

Hi Jean-Louis,

I have no problem compiling with win7 ardu022 relax either. 

However, when i upload 2.42xp2 the ABC LED's on my board don't light up, and although i can connect to the board via the terminal, I cannot communicate with it via the config. i just get repeated CRC errors. Any ideas? I have an APM1.

Thanks

Here a new video of a LOITER test flight in windy conditions (13 Km/h from S-W) with the beta Arducopter v2.4.2b firmware (with the latest Jason's fix) currently under test in the AC dev Team. There was a small drift due to the wind because I have set a too much low Integral on the Loiter. The quadcopter was really reactive Vs the gusts and very stable as you will notice in the video.

Regards, Jean-Louis

Hello to All,

Here a video of a full test flight (>5 min) of the firmware ArduCopter v2.4.1xp2 with the new DCM fix with the Quadcopter F450 Flame Wheel.

The purpose of this long test flight is to check if there is a drift of the roll/pitch neutral and if the GPS position is still locked after a 10 minutes of full autonomous flight in LOITER mode.

Wind 8 Km/h, gusting 11 Km/h.

The GPS position hold (LOITER mode) is accurate and there is NO DRIFT while the time passing. This has been tested on 10 minutes flights.

The full tested version of the firmware v2.4.1xp2+DCM fix that I have tested in this video, with the PIDs parameters that I have used with my F450 Flame Wheel ,can be downloaded HERE

Regards, Jean-Louis

Here a HIL simulation of the ArduCopter v2.4.1xp2 (+DCM fix) on AeroSIM-RC with a quadcopter:
- Manual flight in STABILIZE mode,
- LOITER (GPS position Hold),
- AUTO mode, full autonomous navigation under flight plan,
- Automatic LANDING

You will find a full tutorial for conducting the same test flight in HIL mode HERE,

I have already tested successfully this firmware in real flight on my F450 Flame Wheel.

Regards, Jean-Louis

Dear Jean-Louis

I would like sometime soon to do the same thing but from an inclined surface i.e. the copter is not leveled. 

D

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