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 am very keen to go back to 2.8.1 until a stable release of v3 is available, but there is an error downloading the file from the servers, see http://diydrones.com/forum/topics/how-to-go-back-to-a-different-ard...
Any chance that can be fixed as I really do need a stable loiter for some work I am doing at the moment and 2.9.1b is just not good enough!
ArduCopter 3.0-rc1 (release candidate #1) is now available in the new downloads area. Alternatively you can download the zip from the github site here or finally click on the Mission Planner's Firmware screen and click the "Beta firmwares" link which will temporarily change the versions that are downloaded for each frame type.
ArduCopter 3.0.0-rc1 improvements over 2.9.1b:
1) Inertial navigation for X & Y axis (Randy/Leonard/Jonathan)
2) 3D waypoint navigation library (Leonard/Randy)
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN control target speeds during missions and RTL
WP_YAW_BEHAVIOR to allow disabling yaw during missions and RTL
3) PX4 support (some features still not available) (Tridge/Pat/PX4Dev Team)
4) Safety improvements:
Tin-can shaped fence (set FENCE_ENABLED to 1 and copter will RTL if alt > 150m or horizontal distance from home > 300m) (Randy/Tridge/Leonard)
GCS failsafe (set FS_GCS_ENABLED to 1 and if you are using a tablet to fly your copter it will RTL and return control to the radio 3 seconds after losing telemetry) (Randy)
pre-arm checks to ensure accelerometer and radio calibration has been performed before arming (Randy)
5) motor interference compensation for compass (Jonathan/Randy)
6) Circle mode improvements:
set CIRCLE_RADIUS to zero to do panorama shots in circle mode (copter does not move in a circle but instead slowly rotates)
CIRCLE_RATE parameter allows controlling direction and speed of rotation in CIRCLE mode and LOITER_TURNS (can also be adjusted in flight from CH6 knob)
7) SONAR_GAIN parameter add to allow reducing the response to objects sensed by sonar (Randy)
8) support for trapezoidal quads (aka V shaped or FPV quads) (Leonard/Craig)
9) performance improvements to dataflash logging (Tridge)
10) bug-fix to analog read which could cause bad sonar reads when using voltage or current monitor (Tridge)
11) bug-fix to motors going to minimum when throttle is low while switching into Loiter, AUTO, RTL, ALT_HOLD (Jason/Randy)
12) bug-fix for auto disarm sometimes disarming shortly after arming (Jason/SirAlex)
There are already a number of known issues that have been added to the issues list:
a) sometimes the copter jerks severely when first entering loiter, RTL or reaching a waypoint.
b) spiraling around a waypoint normally caused by your compass heading not agreeing with true north
c) too many nearly empty log files produced
d) climb and descent speeds during RTL or missions can be very slow
e) accelerometer calibration through mission planner can required multiple clicks of the button
A couple of warnings -- it's only release candidate #1 (there will be at least 1 more before the official release) so it's still a work in progress. I won't be able to analyse every log posted because I also need to spend time on fixing up the known issues. Still, all feedback both positive and negative (so we can get the issues resolved) would be greatly appreciated.
Any idea's when a stable version will be released that sorts out the loiter and alt hold issues?
I use these features a lot and haven't been able to sort them out since 2.9.1 was released, my quad just goes nuts when in either of these two modes. Works brilliantly in stabilised or auto modes.
I went through the vibration testing when 2.9.1 was released but was told by Randy that the loiter and alt hold will be skittish until 2.9.2 is released even though my posted vib results were very good.
Might have to go back to 2.8 as that was really stable in loiter until this issue is fixed!
Hello all,
after upgrading my firmware from 2.8.1 to 2.9.1b on my APM1 , the altitude_hold does not work any more. I am using the XL-MaxSonar EZ0. I want only to fly near the ground with a maximum height of 3m. In 2.8.1 firmware I was able to achieve this very precisely (error ~ 5cm). Now with the new 2.9.1b firmware the ArduCopter altitude_hold is not precise any more. for example when i hold ArduCopter 1 meter above the ground, the altitude value in Mission Planner is jumping over the time. Even after disabling the sonar the height measurement is still worse than in older version of firmware. I found it more practical to keep the sonar for low level altitude_hold (4 meter) while using the pressure sensor for higher level.
I pray every volunteer testers to leave your feedback about the version 3.0.0.rc1 available only for expert users on GitHub (downloadable here), you can interact and leaving your comments in this discussion but of course, first update your APM, calibrate manually the compass and declination, try it and post your impression!
Remember: there's safety system on V3, you can't arm the motors if you compass or accelerometers value are wrong or out of range!
In the first post there's my parameters.
Thanks, Marco
Why there are new or different parameters between 2.9.1b and 2.9.1b_dev?
I did a compare the list of parameters between 2 release and I did see new parameters in 2.9.1b_dev which are not in 2.9.1b or vice versa.
This is somehow confusing. I understood that between 2.8.1 and 2.9.1 there are new difference, but I did not expect between 2.9.1b and 2.9.1b_dev.
I did load 2.9.1b_dev as firmware, but using the 2.9.1 param (save in file) and looks Quad it responding different.
Should I keep the default params coming with the firmware release and just adapt the parameters I need?
When I said Quad it responding different I am refering to Loiter and Auto and GPS (MediaTek) functionality.
With 2.9.1b I can not more use the Loiter or Auto, GPS is jumping as crazy.
When I switch from AltHold to Loiter, Quad is reacting aggressive (someone said as a Porsche .. I totally agree)
1st, much appreciation of the work done by the devs.
Old noob here who just spent more than a week getting bluetooth to work (yea no USB) with FW: 2.8.1 & MP: 1.2.44 ... had BT etc working perfectly, and was ready to calibrate and tune ...
Then I succumbed to that "Update now" to MP: v1.2.48 and now BT is KAPUT ... I assumed I needed to upgrade FW and got v2.9.1b ... but still no BT. I have exhausted my troubleshooting skills. Error detail enclosed ... please HELP!
MP-ERROR.bmp
I played around this weekend with the latest code on my qav500 (apm2.5), what a treat !
Alt-hold is absolutely great for me esp after tweaking TC abit, but I'm not seeing the drop I used to see when switching out of it in 2.9.1. Great stuff!
Loiter was spot-on ! Even pirrouetting in moderate winds was solid, when it was calm the thing practically hovered motionless wk-m style ;) But I do agree with David that the speed in which you change position is too slow, any way to tune that in params ?
I even tried some Auto missions, it was abit tricky loading the WPs but it worked the third time I tried it. Despite needing alot of tuning still for this mode (its way to aggressive when changing direction after a waypoint is reached but its moving like a snail inbetween WPs) it flew reasonably good follwing the course reaching all WPs very accurately.
Finally, I tried a few RTLs all with great accuracy (esp when its calm), I only noticed that sometimes it wouldn't yaw to face home. I only noticed this when triggering RTL pretty close from home position (10-20m) but it happened twice. I'll check the logs for compass interference but it seems strange that when I triggered RTL further away it faced home correctly.
Thanks everyone for making this possible, this project has come a really long way but I feel its very close to where it wants to be !
I'm still having my issue of the quad dropping in altitude when pitching forward and climbing when pitching back when in ALT_HOLD. (post) I've noticed that banking right also causes a climb and banking left a drop. But with the new version imminent it may not be worth pursuing this?
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