2.8.1 or 2.9.1 for fully autonomous flying?

We're bringing up a 3DR hex for use as an autonomous UAV. In a nutshell, the goal is to be able to tell it "Haul the camera out to location x, take video of the area, and RTL" with no human intervention.

We started with Arducopter 2.8.1.  The first time we sent it off on an flight plan downloaded with Mission Planner, it performed flawlessly, until it returned to about 18 inches above the launch point. Then it suddenly slewed off in an apparently random direction, hit the ground at an angle, and cartwheeled.

We think that what happened is that, as the copter landed next to our two-story metal building, it lost sight of some satellites, and the GPS suddenly said "Oops, you need to be over there, not here", and crashed trying to get there.

I was hoping this might be fixed in 2.9.1, but I've discovered that a lot of people are complaining about unpleasant surprises during RTL. I also found out that the code has been dramatically restructured, so any fix I come up with for one version can't be ported to the other.

So I need to pick one.

I'd like to hear from people who've either used both for autonomous UAVs, or are familiar with the waypoint-navigating and other autonomous-relevant parts of Arducopter, about which would be the better choice for building a reliable system.

And, btw, the change we're looking at making is to start ignoring the GPS at some point during final descent, and rely on either inertial navigation or something like an optical flow sensor to maintain the horizontal positioning. That should protect us from unpleasant surprises when the sensor suddenly changes its mind about where we are.

Ran

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Ran,

    I've flown some auto missions on 2.8.1 but most of them have been with 2.9.1b. I can tell you that 98% of the time we have had no significant problems with 2.9.1b.

    But, there was a time when the GPS suddenly thought it was about 250m from where it actually was when it was going between waypoints and the quad responded accordingly (we have the 3DR MediaTek GPS). We haven't been able to replicate the problem so we're not sure what the exact problem was (we had about 10 sats at the point with HDOP of around 1).

     

    2.9.1b has been pretty good to us so far, but I do know that a lot of people have had GPS problems with it.

     

    Not sure if this helps but thought I should put in some 2 cents!

     

    -Jake

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @a1k0n: @DanielChiaJH @diyrobocars @circuitlaunch Here's my car's view of that race. About 8.4 second lap times for laps 2 and 3... both…
Monday
DIY Robocars via Twitter
RT @DanielChiaJH: Great racing against @a1k0n today at @diyrobocars! Pretty cool to both break sun-9s at the track today I think I got very…
Sunday
DIY Robocars via Twitter
Broadcasting the @circuitlaunch race live now at https://m.twitch.tv/diyrobocars Races begin around 2:00pm PT
Saturday
DIY Robocars via Twitter
RT @a1k0n: ran a huge number of hyperparameter tuning experiments yesterday; now I can train a new policy, far with better quality, in 15 m…
Saturday
DIY Robocars via Twitter
RT @a1k0n: Did I get rid of hand-tuned parameters? Yes. Am I still hand-tuning more parameters? Also yes. I have a few knobs to address the…
Sep 26
DIY Robocars via Twitter
RT @a1k0n: I'm not going to spoil it, but (after charging the battery) this works way better than it has any right to. The car is now faste…
Sep 26
DIY Robocars via Twitter
RT @a1k0n: Decided to just see what happens if I run the sim-trained neural net on the car, with some safety rails around max throttle slew…
Sep 26
DIY Robocars via Twitter
Sep 24
DIY Robocars via Twitter
RT @SmallpixelCar: @a1k0n @diyrobocars I learned from this. This is my speed profile. Looks like I am too conservative on the right side of…
Sep 24
DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars Dot color is speed; brighter is faster. Yeah, it has less room to explore in the tighter part, and t…
Sep 24
DIY Robocars via Twitter
RT @a1k0n: I'm gonna try to do proper offline reinforcement learning for @diyrobocars and throw away all my manual parameter tuning for the…
Sep 23
DIY Robocars via Twitter
RT @circuitlaunch: DIY Robocars & Brazilian BBQ - Sat 10/1. Our track combines hairpin curves with an intersection for max danger. Take tha…
Sep 22
DIY Robocars via Twitter
RT @SmallpixelCar: Had an great test today on @RAMS_RC_Club track. However the car starts to drift at 40mph. Some experts recommended to ch…
Sep 11
DIY Robocars via Twitter
RT @gclue_akira: 世界最速 チームtamiyaのaiカー https://t.co/1Qq2zOeftG
Sep 10
DIY Robocars via Twitter
RT @DanielChiaJH: Always a good time working on my @diyrobocars car at @circuitlaunch. Still got some work to do if I’m to beat @a1k0n howe…
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: My new speed profile for @RAMS_RC_Club track https://t.co/RtLb7TcgIJ
Sep 10
More…