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'm using 2.9.1.b with APM2.5.4, ublox and just installed a gimbal. When I boot it up I can see the HUD moving around and also the gimbal responding. At first I thought it was some interference on my gimbal servo lines but then connected via MP and noticed that it looks like it's moving around even though it's perfectly still and unarmed. What would cause that? I'm using the RC11 on tilt and RC10 on roll. Copter flies fine but I think this might interfere with the camera stabilization?
Hey guys,
I'm running rc4 on my tricopter, not flown it before. I'm mostly into quads and hexas, so this is a new airframe for me.
I'm having a tiny problem, the yaw servo is not perfectly centered at startup or when armed. I don't know if this is normal behaviour or whether it will be fine when it flying...
Or perhaps I have to auto-trim it when its in the air to trim the yaw servo?
1) loiter improvements:
i) repositioning enhanced with feed forward
ii) use tan to convert desired accel to lean angle
2) stability patch improvements for high powered copters or those with roll-pitch rate gains set too high
3) auto mode vertical speed fix (it was not reaching the desired speeds)
4) alt hold smoothed by filtering feed forward input
5) circle mode fix to initial position and smoother initialisation
6) RTL returns to initial yaw heading before descending
7) safe features:
i) check for gps lock when entering failsafe
ii) pre-arm check for mag field lenght
iii) pre-arm check for board voltage between 4.5v ~ 5.8V
iv) beep twice during arming
v) GPS failsafe enabled by default (will LAND if loses GPS in Loiter, AUTO, Guided modes)
vi) bug fix for alt-hold mode spinning motors before pilot has raised throttle
8) bug fixes:
i) fixed position mode so it responding to pilot input
ii) baro cli test
iii) moved cli motor test to test sub menu and minor change to throttle output
iv) guided mode yaw control fix
Hopefully this will be very close to the version that becomes the official 3.0 release in MissionPlanner. All feedback welcome!
I started a thread about a condition that will cause some motors to start in an octo configuration with gimbal channels set to A7 and A8. Not sure if this is a bug. I'm using 2.9.1b and APM2.5.4
http://diydrones.com/forum/topics/dangerous-condition-with-gimbal-s...
How can we re-map the motors to different channel outputs? I want to run my quad's motors using channels 5-8 rather than 1-4? I could do this in 2.5.5, but can't find the stuff in this version.
I wanted to let you devs know that this works great! My 4kg Octo flies like a charm with 2.9.1.b. Default params worked pretty well for me. I dialed down the forward tilt compensation so that cruising speed would be more steady between waypoints: flying at 80 meters up with the target speed set to 6.5 m/s and tilt set to 35, I am consistently seeing cruising speed between 7-9 m/s with nice slow changes. I also increased my ascent speed to 2.5 m/s and my descent to 1.85 m/s. Keep up the good work, this copter is going to Panama in a few weeks to survey rainforest!
Guys. I need some help. I really dont know what I am doing wrong. I am testing the new beta firmware and I am trying to use the compassmot command. Problem is when I enter in CLI the compassmot command, I receive the regular message about increase trottle and etc... But the problem is my esc just keep beeping and I did not find a way to arm the motors. Throttle up doent work... So my motors doenst spin under compassmot. Any ideas? Thank you.
Hi!
Sorry to bother you all here but what's the current state of the sonar implementation? I just ask because i did some (hopefully) nice code to blend sonar (tested on MB1200 and cheapo HC-SR04 both running in pwm) hight data into baro/acc fusion on my other project. It's somehow conservative / soft because due to the baro/acc thing it's not neccessary to have a harsh sonar override anymore. I can leave sonar enabled the whole time without fearing severe jumps or drops when flying over high obstacles (monuments etc). The terrainfollowing is not as sharp and bumpy (smoothed by baro/acc) but works at decent flying speeds. From a brief glance at arducopters github repo concerning sonar the methods seem to be rather different. Perhaps it could be an alternative for the not so - die - hard - terrain followers. I think this function might give a nice boost while inspecting roofs etc .. without the fear of bumping into the object.
Cheers Kraut Rob
P.s.: Reworked the reply and added the core code. Implementing/testing with arducopter should be a 5 minutes job for someone who is familiar with the arducopter code.
SoftSonar.zip
Hello,
here is a post of my tlog to investigate an issue i had yesterday flying (2.9.1b) in ALT_HOLD: the behaviour was strange : first alt_hold works fine then after a couple of minutes the quad lands as if battery failsafe was triggered. However after disarming and rearming I could fly again and the battery is not empty! This happened a couple of times, weird.
Here is a graph of throttle and VCC which looks strange (VCC has spikes all over):
and attached are my tlog.
additional comment : the second part of the graph corresponds to another battery : strangely enough in that part of the grpah VCC looks normal at 5V constant.
2013-05-25 17-19-21.zip
This may be a daft question, but why do you bother with a magnetic heading when using a gps or inertial, nav as they can navigate with true bearings and not unreliable magnetic ones?
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