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 have an octo with 12" props that hovers around 40%. I just upgraded from 2.9.1.b to 3.0rc5 and when I go into alt hold or loiter it starts to hold and then drops altitude quick, then recovers but overshoots and over and over. I usually switch to stab before it gets too scary :)
Here are my params. Should I tune Throttle Accel or Alt Hold to get rid of this?
Otherwise I love how stabilize feels compared to 2.9.1.b but I'm curious about Loiter and Alt Hold.
CRASH.... i uploaded V3.00 rc4 and comands on my Y6 did not work(no pitch,no left right) so later on i figure out that Y6 needs to be in V configuration in mission planer level page(iwe missed that part somehow,where is it explained!),and than it was ok...today after iwe uploaded V3.0 rc5 and start to fly i lost control again and y6 start to fly away so i panic and cut the throttle,crashing landing gear and 1(xoar wood)prop...for that short moment of fly
my Y6:
APM 2
mutistar 4830 420KV 650W motors
turnigy plush 40A
xoar 14x5 wood(70cm motor to motor)
nanotech 6S 8000mAH x2
3dr radio
graupner mx20 RC
ublox GPS
everything was calibrated acc,compass,level etc....i had compass auto on(i think that was the problem)....compassmot done too
can someone check my tlog(i had enabled INAV but i cant see that)
in mission planer radio calibration page comands was working ok....
20130607123325.tlog
ArduCopter V3 RC and "Loiter wobbling":
I want a confirmation from anyone who has tried the V3 Release Candidate version of ArduCopter, my quad has small shaky, a sorta of fast oscillations during the Loiter, it happens to someone else?
I noticed and reported this problem only from V3 onwards.
For the specs of my quad see the description of my video.
Thanks, Marco
Hey Randy,
Loaded the latest firmware 3rc5 on my tricopter.
Noticing a toilet bowl effect when in loiter mode after may be 20 seconds or so into it and also after pitching forward.
Uploaded the files for your analysis. The first minute or so the compass live calibration was being performed.
Hope you can assess what's going on.
Thanks!
2013-06-06 06-50-31.tlog
2013-06-06 06-50-31.rlog
I'm getting ready to update an octo from 2.9.1.b to 3.0RC4. Other than what Randy has already mentioned is there any other parameters like in Rate and Stable that should be adjusted:
Randy said:
Guys, this might just have been dealt in this topic but it has become so big that I might just ask, in case it hasn't...
I'm going to update very soon my 3DR hexa with the latest 2.9.1b firmware. I have a UBLOX Lea GPS and an MTK one:
Once I have updated my GPS(s), will they be ok with Arduplane latest version (2.73?), which I also share GPS with...
Thanks guys!
My altitude is reading erroneously . I have my copter sitting on my dining table and it's reading over 300 ft. I'm not using a sonar. APM 2.5 is stock with case and foam covering the baro from 3DR.
Is there way to calibrate the altitude or barometer?
Improvements over 3.0.0-rc4
1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location
2) bug fix to Circle mode to allow counter-clockwise rotation
3) bug fix to heading change in Loiter, RTL, Missions when pilot's throttle is zero
4) bug fix for mission sticking at take-off command when pilot's throttle is zero
5) bug fix for parameters not saving when new value is same as default value
6) reduce pre-arm board min voltage check to 4.3V (was 4.5V)
7) remove throttle controller's ability to limit lean angle in loiter, rtl, auto
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ArduCopter 3.0.0-rc4
Improvements over 3.0.0-rc3
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
Is it possible that the latest version of Mission Planner is not changing flight mode assignment properly? Just loaded RC4 onto one of my quads and took into the yard to try it out.
I changed my flight modes to:
Stabilize
Stabilize
Alt Hold
Loiter
Land
Land
The last two had been AUTO and RTL. I saved the changes.
Flew it around and it was doing OK - alt hold was solid - though loiter totally sucked. Switched to Land to see how it handled that and the thing took off at very high speed straight into the roof of the house where all four props and motor mounts were destroyed before I could kill everything.
I quit out of MP and re-ran it and reconnected and the flight modes are showing as what I had them set for - with LAND as the last two modes.
I have no idea what happened, but it acts like the change was not written to the APM and when I hit LAND, it went into AUTO and tried to zoom off to a very far away way point.
Finally got some time outside this weekend. Tried out RC4 on my lightweight quad - alt hold is VERY good. Loiter also very good - even in a breeze (this quad is kind of a kite usually). One thing I noted was that trying to reposition it in loiter was pretty close to impossible. As soon as I would move the quad, it would begin see-sawing - looked kind of like it was either a pendulem or balanced on a stick - hard to describe. But it was startling enough that I didn't push it. Is this expected behavior? Perhaps I need to tune something to get rid of this? With all the changes to Loiter, it may jsut be that repositioning in Loiter simply is no longer a valid option - which is fine - but I figure If I don't ask I won't know :)
But really, the overall performance was great. This cheap little beat up quad now flies like something WAY pricier.
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