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APM Copter 2.9.1.b has been released

Posted by Craig Elder on April 5, 2013 at 8:38pm

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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.

 

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Tags: 291b, apm, apm1, apm2, copter, heli, quad
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Replies

  • MR60
    Hugues May 23, 2013 at 11:48am
    Is the CLI command "compassmot" only available in version3 ? Because i do not find it in 2.9.1b ?
  • Nathan Asdourian May 23, 2013 at 6:33am
    Hi Randovan, I'm curious as to what settings you have ended up changing in the gps. I tested and played with many many different configurations and ultimately ended up back with the stock setup and only one or two alterations. My experience was that when a setting didn't get saved it was that I forgot to commit the change to the eeprom.
  • Developer
    Randy May 22, 2013 at 6:48pm

    I've just put AC3.0-rc3 into the new downloads area here and in GitHub and the MissionPlanner should start dispensing it shortly through the Beta firmwares link.


    Improvements over 3.0.0-rc2
    1) bug fix for dataflash erasing unnecessarily
    2) smoother transition to waypoints, loiter:
        intermediate point's speed initialised from copter's current speed
    3) Ch8 auxiliary function switch (same features as Ch7)
    4) safety checks:
        Warning to GCS of reason for pre-arm check failure
        ARMING_CHECK parameter added to allow disabling pre-arm checks
        Added compass health and offset check to pre-arm check
        compassmot procedure displays interference as percentage of total mag field
    5) WPNAV dataflash message combined into NTUN message
    6) allow TriCopters to use ESC calibration

    All feedback welcome.  I think we're getting close to a final release.

  • Bill Patterson May 19, 2013 at 6:35pm

    A bit of testing today. 

    I generally test each item, one at a time, and don't progress until I'm happy.

    So I've been stuck on alt hold since 2.91b came out. It's been back to terrible with massive jumps and drops again. Finally I ripped out my 1260 sonar (again), and the quad does alt-hold like a dream. I guess I have to buy yet another sonar (my third) for it to work (1340). 

    So I moved on to loiter. And it seems perfect. I did have 12 satellites locked in for awhile, and there was no perceptible movement at all. It's still a little twitchy (but holding in place), and I'll need a gimbal if I ever get serious with video. 

    No auto flights yet on this firmware. RTL test will be next, then after that full auto course with some ROI.

    (One thing at a time). 

    I'm getting very confident with my flying, took it up to 160 feet, no fear. :-)

  • Nathan Asdourian May 18, 2013 at 7:04pm
    On my flame wheel 550 running rc2, I lengthened the stock esc wires so the escs are as far up the arms as possible without re arranging the outputs and my compassmot output said 0,-1, 0... though I wonder if the -1 might be simply from me not being able to hold it perfectly still with one hand while the motors were running at full power? so far I'm loving this version even though I have noticed an odd thing or two, still trying to finger out if they were actually glitches or misperceptions or just simple brain farts...
  • Vince Hogg May 15, 2013 at 6:34am

    I was just editing the 3.0 code to reverse the motors and noticed the H frame options with it already done!. Must have missed that.

    Good news.

     

    Cant decide if I should give it a try or wait for final release. Any big gotchas in rc2?

     

  • Developer
    Randy May 15, 2013 at 1:27am

    Ah, yes.  I forgot to put a notice here!

        I've added AC3.0-rc2 (release candidate 2) into the old downloads area and it's also available via GitHub and through the Mission Planner's Firmware screen's "Beta firmwares" link.
    Improvements  over3.0.0-rc1:
    1) smoother transition to waypoints, loiter:
         reduced loiter max acceleration to smooth waypoints
         bug fix to uninitialised roll/pitch when entering RTL, AUTO, LOITER
    2) fast waypoints - copter does not stop at waypoints unless delay is specified
    3) WPNAV_LOIT_SPEED added to allow faster/slower loiter repositioning
    4) removed speed limits on auto missions
    5) enhance LAND mission command takes lat/lon coordinates
    6) bug fix for RTL not pointing home sometimes
    7) centrifugal correction disabled when copter is disarmed to stop HUD moving
    8) centrifugal correction disabled when sat count less than 6 (AHRS_GPS_MINSATS)
    9) compass calibration reliability improvements when run from mission planner
    10) bug fix to allow compassmot to be run from mission planner terminal screen
    11) add support for H-quad frame
    12) add COMPASS_ORIENT parameter to support external compass in any orientation
         All feedback welcome.
         By the way, things that still need to be resolved before the final release include:
              a) ensure we can solve all tester's toilet-bowling
              b) Scale Z-axis time constants if inertial nav + baro diverge too much
              c) more smoothing of waypoint transitions
              d) Leonard's stability patch to remove the situation where over-powered or over-tuned copters climb into the sky (long standing issue since 2.8.1).
              e) dataflash is erasing logs unnecessarily sometimes (fixed in master with appear in rc3)
  • MR60
    Hugues May 12, 2013 at 2:02pm
    Hi,
    In the last mission planner version, i see a new checkbox next to the calibrate accel button. The text next to this checkbox seem to indicate a version number. What is the purpose of this checkbox? Should i check it or not , hacing 2.9.1b ?
  • Quentin Mayberry May 10, 2013 at 1:16am

    Roberto S, this is going into the wrong thread for some strange reason so had to put it as a new post!

    There was discussions about that awhile ago, it is to do with the throttle trim setting I believe that the autopilot thinks it needs compared to the actual throttle setting for a hover (it is supposed to auto learn that setting depending on battery power available). It used to be called throttle trim, not sure what it is called now as I am not near my quad to check.

  • Quentin Mayberry May 10, 2013 at 12:52am

    Just a curiosity question about the loiter, having trimmed out the bad habits for this release the loiter is not bad at all, certainly acceptable for what I currently need it to do. However, when I am in a stable hover and then select loiter the quad starts to climb, if I leave it it will keep climbing, so why doesn't the autopilot correct that?

    The only way I can stop it climbing is to reduce the throttle slightly then it is happy and stays put.

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