APM Copter 2.9.1.b has been released to the Mission Planner and is also posted in the downloads area.
2.9.1b is a maintenance release incorporating changes to 4 default parameters that have been optimized since 2.9.1 was released. There are also 4 minor bug fixes. There are no code function changes or additional features.
The changes are:
1) reduce default INS_MPU6K_FILTER to 20hz
2) reduce InertialNav Z-axis time constant to 5 (was 7)
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
4) reduce yaw_rate P default to 0.20 (was 0.25)
5) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew which might have caused problems if you climbed over 320m.
6) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
7) bug fix to acro trainer to do with roll correction
8) prevent cli from being entered more than 20seconds after reboot.
Users are recommended to:
Update Mission Planner to 1.2.41 and
Update their flight code to 2.9.1b from the Firmware tab on Mission Planner. There is no need to go through a new configuration process in the Mission Planner.
Replies
I checked to see if mine is set to 20Hz or 42Hz and it was set to 0? I've never modified that parameter before or really any outside the standard parameters window. How or why would that be set to 0? It's on a new APM2.5 that only had one previous version installed on it which was 2.9.1 and I started with the defaults.
Hi,
i would be very happy to understand what are the pros and cons of a higher or lower lowpassfilter? i get that this filter out spikes and i guess it will induce some sort of delay as the measurings are "averaged" (simply spoken).
Maybee one can point me to the right lecture or give a short comment.
As for the magneto calibrations i had similar problems and i went the manual calibration/declination way and works like a charm.
cheers Christoph
Just tried this out on my new quad (cobbled together out of parts this week while home sick and I had two issues I wanted to ask about.
1) Seeing Yaw drift and some circling in loiter. Checked the log and saw this for the compass offsets - I am guessing something is causing the third value to go higher than it should. What are things to check?
2) I had it tuned up pretty aggressively and was giving it some fast back and forth in alt hold mode when it dove sideways to the ground. A bent motor mount (already flattened back out) was the only harm. Just wondering what might cause that?
Here is the Raw graph for part of the flight:
Log is attached, but not sure if I had the necessary things turned on to tell us anything.
Alt hold, BTW is very very good.
Scott
2013-04-07 18-25 7.log
I have tested today 2.9.1b with simple missions of a few waypoints, loiter, land, take off. Nothing special to notice, flies good as previous version.
I will however post in a couple of days the logs of a failed mission with flyaway i had this morning. i do not know if this is related to this new version. I too a quick look at the tlogs and did not find anyhting abnormal. I am glad i had the gps and an almost empty battery,but still had to drive more than two miles to find it back. landed! (thx to battery failsafe) not a scrath , in a field! I was never so happy i did not hurt anyone.
Regarding......1) reduce default INS_MPU6K_FILTER to 20hz
On the Mission Planner Adv Param List, INS_MPU6K_FILTER states 0 (default). Is this now actually 20 or still 42 as in the description beside it, it states the default for ArduCopter is 42Hz.
For now I have manually set it to 20, but thought I would raise it in case it is an error or typo.
ArduCopter V2.9.1.b release, my video and the know bug:
Hi all, here my video of this release.
We have released fast enough this maintenance version to fix some problems important enough, but just today after a long time I could not do regular tests and I bring to the attention of the bug I've found, verified with "Dave C":
1) with "automatic compass calibration" enabled sometimes absurd compass values are stored, this happens after a very thorough flight, fast turns/path. Do you realize this if you switch in Loiter/ RTL/Auto, the quad takes directions totally wrong. There's some way to solve the problem, manually set the values x/y/z of the compass offset to zero and then prevent flying too abruptly, or disable this feature and calibrate the compass manually (I always do that, but for testing of course i use the ArduCopter default to simulate your future flights).
2) Do not switch to Loiter/RTL/Auto after a flew very fast in Stabilize/Acro, the quad may fall many meters. This is always a problem of accelerometers related the inertial nav (when "MPU6000" is a bit battered goes a little haywire, LOL). Look at my video at "2:24".
3) After an hard autolanding the motors don't disarm immediately but after several seconds, always a problem of accelerometers inside related the inertial nav (Mr "MPU6000" is here again).
These know bugs are being studied and almost all resolved in the "ap_hal" master branch on GitHub.
Remember: if you fly quietly enough you can't find them easily, but now you are warned! :P
Best, Marco
I have noticed that the 2.9.1b has a "V frame" feature for quads (in the "Arducopter Level" screen). Is there any documentation about that? I have a TBS Discovery and perhaps the new feature is made for "spider shaped" frames like this? At the moment I use the X quad option but with special angles (like documented here and here).
All the best, Markus
Here my set of parameters for this "cosmetic" release, it's preferable to start with the default but not mandatory, but is important change the parameters mentioned in the first post (point 1/2/4).
I remind that after the introduction of the inertial control is very important to eliminate any abnormal vibration from your setup.
Thanks to the whole ArduCopter Team.
Bests, Marco
2.9.1b_Quaddino_Marco.param
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