This beta brings support for the new MediaTek GPS unit. The MTK works great and it's very light.
I've also added some bug fixes including:
- Auto Trim - (on by default) When you enter any flight mode from Manual, you'll save your current trim values. Great for trimming your plane in the air.
- FBW issues (turning too much in one direction) caused by incorrect or unset radio limit - fixed with new algorithm
- Radio Mixing - lowered the mix value for more responsive sticks
Let me know if you have issues, and I'll update the release version.
Jason
Comments
No MANUAL to AUTO but corrected the lateral axes +- 10° out of level before switching to AUTO to see if the Autostart would level the lateral axes when climbing.
Were you moving the stick at the time you switched into STABILIZE? No.
Did the plane turn into the ground in the opposite direction? Iit just turned +- 90° down like full push on the elevator.
I will check on the damage tonight, it does not look so bad.
ca means circa, aproximatly
In Version B LOITER performed a rectangle circle. I devided the log files for you for better visibility.
In version B, Autostart performed with a steep climb first and then with a circling climb. I switched to Auto level. Then afer reaching 50m proceeded to WP 1 and started to do very strange paterns in the area on WP 1 and did NOT proceed to WP 2. After many circles I switched back to MANUAL for landing.
Version A was very good. AUTO with AutoStart engaged and 30° takeoff performed like AutoStart turned off.
I thought I can correct that, because takoff angle might be in degrees * 100 and entered 3000 for the next try. Thats where the plane crashed (90° down at switch to AUTO).
is this clear now?
The attached files are from version B only.
APflight_2010_07_11_10_45_07 Autostart Ver B.kml
APflight_2010_07_11_10_45_07 Loiter Ver B.kml
The plane turned slightly in takeoff in version B?
When you crashed, you said you were banking. Did you move from Manual to Stabilize? Were you moving the stick at the time you switched into STABILIZE? Did the plane turn into the ground in the opposite direction?
Jason
Sad to see your plane hurt. Will you be able to re-glue it back together? loose any boards?
Quick question what's the CA in "CA 5 Meters"
Jason
here my report of today.
Testflight 11.7.2010
AP 2.6.2
RC 1192 with home fix (Version A)
2.6.2 experimental (Version B)
IMU V2
Speedsensor
Total 2.5 Flights
General
1. flight with home fix, missing ";" at line 432 in ArduPilot _2_6.pde, home stored correct the first time.
Loiter is performed nice and round at wp 1.
I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. The plane accelerated and did not climb as expected but in a very flat angle to WP1. Same operation as with Autostart = 0. Auto is performed perfect with end Loiter above H
2. Flight experimental
Loiter -> strange patern
I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. Too steep climbing (estimated 45°) at first (set was 33°) nice idea of circling up. Too narrow circles, climbrate fine.
the following auto flight -> strange paterns over WP1 see log.
3. flight with RC 1192 and home fix. I was thougth the TAKE_OFF_PITCH 30 might be degrees * 100 so I changed it to 3000 in order to see the difference and make code correction easier.
I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. I gave 10° bank before switching to auto to test stabilize.
Switch to auto, plane turns 90° down. End of testflights for a while.
Conclusion
1. publish version A with the correction Line 432 as new RC
2. The Autostart option of the experimental version is nice. I suggest as follows:
Define
TAKE_OFF_RUNAWAY && How many meters to accelerate the plane before climb
TAKE_OFF_WINDUP_RADIUS && Radius of circles to gain altitude
TAKE_OFF_ALT && Altitude above ground to reach before going to AUTO
TAKE_OFF_PITCH && Pitch for CLIMBING
Implement this into (Version A)
add a ABS(constrain()) min 10°, max 40° for the TAKE_OFF_PITCH for idiots like me.
Best Regards
Christof
APflight_2010_07_11_10_30_29.kml
APflight_2010_07_11_10_45_07.kml
ArduPilot_DataLog_2010_07_11_10_38_02.txt
APflight_2010_07_11_11_02_25.kml
That sound really cool. Can you run Perl scripts? I could make the easily using Perl.
Otherwise could we get Labview to read in the scripts?
I mentioned an idea to Chris and the rest a few days ago but didn't hear whether they wanted it. I would like to take the Mega logfiles and play them into the GCS. It would really help in flight testing new code. I'm not a script or parser writer but wondered if you folks could consider it. I don't have any Xbees or want to spend money on telemetry but I would really like to play back a flight. I could then rewind a little, play slowmo, focus on a particular event, etc. What do you guys think?
DaveW
Alt Crs and Gsd not working yet.
Manual RTL Auto Loiter messages working also.
BTW I like the feature in 2.6.2.experimental that when you do a RTL, when it reaches the home position, the GCS indicator goes to LOITER. Nice job.
IMU Flat and Level
GCS indicating flat and level.I also changed mode to AUTO so WP # and distance changed.
So did the lat/lon live data from the IMU/MTK.
I think we are making some progress.
Earl
IMU tilted up and to the right
The GCS showing this.Earl
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