Working on the next revision. Here's what's coming:
- Moving imu and baro calibration to the arming sequence, anything else?
- Simple mode with alt hold?
- Tridge's max motor fix for Hexa's and Octa's
- A new Octa setup from Hein for better performance.
Please fire away with any suggestion or issues. Mostly looking for fixes and improvements to existing features so we can finalize this version of the code and move to the next generation.
Jason
Update:
What's done so far.
todo move ground start to first arming
added ground start flag
moved throttle_integrator to 50hz loop
CAMERA_STABILIZER deprecated - now always on
renamed current logging bit mask to match APM
lowered NAV_LOITER_P to 1.0
increased NAV_LOITER_D to .6
added MASK_LOG_SET_DEFAULTS to match APM
moved some stuff out of ground start into system start where it belonged
Added slower Yaw gains for DCM when the copter is in the air
changed camera output to be none scaled PWM
fixed bug where ground_temperature was unfiltered
shortened Baro startup time
added MA filter to PID - D term
decreased Nav_WP_ kI term
fixed issue with Nav_WP integrator not being reset
RTL no longer yaws towards home
Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha.
Enclosed is where I'm at so far. This is fly
Replies
What exactly is ground start ? I mean, you always start from ground, no ?
As for the low battery led warning, I guess people want something like this :
http://diydrones.com/profiles/blogs/led-low-battery-warning-on
On 1 min battery left it starts blinking at 2hz. On 15 sec left it starts blinking at 5hz. No more need for a lipo alarm...
I really like that RTL doesn't yaw home anymore. When flying away forward and hitting RTL, the copter would come back nose-in and I'd have to take manual control nose-in, which is not easy and could lead to piloting errors :-)
It's night here now (I should go to sleep) but couldn't resist making my led changes in the code and compiling. That went fine and I'll upload revision 38 to the copter tomorrow.
I guess a EEPROM reset and recalibration is needed now since you changed the name of a variable, right ?
This is the camera mount that I have been working on that will use the FC IMU shield camera outputs. The servos are direct drive and use the magnetic encoder servos. This is a much more simple arrangement than my usual approach. It will rely on the fact that the modern cameras will use optic flow stabilisation and thus we can reduce the resolution a bit from the dedicated baseplate IMU system. As a further idea, if we had a plug-in module for dedicated camera stabilisation. then with 12 bit
4096 steps and a 20 deg/sec gyro .005 deg. of accuracy could be achieved. This prototype is made from balsa and ply and weighs only 375 grams inc servos and cables. Incidentally those shocks have no internal piston or oil they are only friction damping by an adjustable O ring pressure cap.
Jason
I replied last night but it seems to have been lost when I edited it.
To cut a long story short I would like to see more mode positions in the SW. currently we have 6 starting at 1165us to 1815us with a separation of 130us.
I was setting up the modes over the weekend and my radio (futaba 9z) is capable of 921- 2099. so taking 950 as the first value and going up with a separation of 50us you could get 23 positions (last one being 2050).
Those that want them can use the extra positions and those who don't just fill 3 or 4 at a time with what ever mode they want at that point. It gives greater flexibility.
Alastair
2. a code or additional program that can switch to second battery pack if first pack reaches 10V or below.. so we dont have to land and replace battery.
just giving some 2 cent ideas
Another alternative that I thought could be used, would be to have an external gyro board that could be switch on at startup. this could have some very high sensitivity gyros/accel. that would be used only for super stable mode.
I started working on this in reverse order by creating the fast response motor prop. combination that would also create the lift efficiency that one needs when getting into heavy lift vehicles that are around 4.6 kilos.
I think one minuet to sink 60 meters is too long if you are at the end of your batteries !!!
interesting. I need more info on GCS, can anybody refer it to me, thanks. still using toggle switches on RC
hi,
it will be fun to have a mode "flip" :) or "roll"
Could you guys take a stab at exactly how to implement alt hold changes? I mean specifically % movement of stick, dead zones, how much to change target altitude, etc.
Also We have 9 flight modes, and many more if we add more options. What would be the preferred way to mix flight modes or access them. Be specific with your suggestions, Thanks!
Keep in mind many folks are using CH6 for camera control. And many folks don't have CH7 hooked up at all.
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