APM Copter 2.9.1.b has been released

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

Joe September 26, 2013 at 9:45am

Testing ArduCopter 3,1-rc2 Loiter in hot strong gusty winds with turbulence from surrounding tall trees, minimal PID tuning, good vibration isolation, compassmot and GPS antenna location, couldn't ask for more, liked it so much I did 2 flights over 10 minutes each waiting for the stronger gusts.
Shyam Balasubramanian July 18, 2013 at 10:23am

I use the latest version of Mission Planner 1.2.59. Can't at all see COMPASSMOT in the setup in CLI.

Can someone please help??

Thanks!
Rafael Villegas July 8, 2013 at 9:09am

Watch this project miniHexa:

https://www.youtube.com/watch?v=2XvINTDkPi0&feature=c4-overview&...

https://www.youtube.com/watch?v=Ilb2XH-p1PY
Attila Toth July 6, 2013 at 11:52pm

Hi

What do you think about this axel Z?

Thanks

Atti
Alex June 24, 2013 at 4:48pm

Dear experts and developers, can you explain that was wrong during the flight

This is my video

https://vimeo.com/68042943

This is the log

2013-05-28 20-02-07.rlog
Developer

Randy June 17, 2013 at 6:41pm

I've started an AC3.0 discussion here so let's move our AC3.0 discussions over there.

We are doing the upgrade more gently this time around. AC-2.9.1b will remain the default version pushed out by the mission planner for the next month or so but we're encouraging people to upgrade to 3.0 via the Mission Planner's Beta firmwares link.

I really want to thank all the people who have helped us test the various AC3.0 release candidates. I think we've saved the wider community a lot of trouble through your efforts and some copter sacrifice.
T3

Stephen Zidek June 17, 2013 at 4:03pm

Hiya- I know this is an old question, but what is the best way to disable the "yaw towards next waypoint" behavior? I'd rather maintain a consistent yaw, because my copter is used for mapping "lawnmower" style, and I feel that it is wasting some energy yawing at each of the many 90 degree turns on its flight paths. I'd rather not compile custom code if I can avoid it. Thanks for your help!
Martin P. June 17, 2013 at 12:30pm

Hi,

i built my second octocopter as a coaxial octo. This time i carefully selected props and motors for high efficiency, Now i like to use the "motor top bottom ratio function" (mot_tb_ratio) to minimize inefficiency due to the coaxial setup. The function is not used in 2.9

How can i activate this feature and are there any problems related to this?
Bruno Bedard June 17, 2013 at 8:27am

Default PIDs and Setting...

I have a suggestion for documentation and for the first post of a new release like when R3 will become an official release. It would be nice to have a print screen of the "default" PIDs and access to a param file. That would make the information easy to refer to when we mess up our PIDs or when we change the wrong parameter in the advance settings.
Andre Kotze June 17, 2013 at 5:36am

I need to manually compile & upload my firmware because I use U4EAKE's code for my LED strips which run off the relay, but I'm getting a compile error. I do recall someone saying a while ago that you need to specify which board and configuration you are using for it to work. I have a quadcopter in X conf with APM 1.4 board. I've tried both version 1.0.1 and 1.0.3 of Arduino but I get the same error output. Any guidence will be greatly appreciated...

In file included from ArduCopter.pde:111:
/config.h:48:2: error: #error CONFIG_HAL_BOARD must be defined to build ArduCopter
ArduCopter:379: error: new declaration 'uint8_t digitalRead(uint8_t)'
C:\Program Files (x86)\ArduPilot-Arduino-1.0.3-windows\hardware\arduino\cores\arduino/Arduino.h:100: error: ambiguates old declaration 'int digitalRead(uint8_t)'
ArduCopter:2191: error: expected constructor, destructor, or type conversion before 'int'
ArduCopter.pde: In function 'int SKETCH_MAIN(int, char* const*)':
ArduCopter:2191: error: 'OK' was not declared in this scope
UserCode.pde: In function 'void userhook_MediumLoop()':
UserCode:51: error: 'rl_state' was not declared in this scope
UserCode:60: error: 'rl_counter' was not declared in this scope
UserCode:66: error: 'rl_state' was not declared in this scope
UserCode:83: error: 'rl_counter' was not declared in this scope
UserCode:89: error: 'rl_state' was not declared in this scope
UserCode:107: error: 'rl_state' was not declared in this scope
compat.pde: In function 'uint8_t digitalRead(uint8_t)':
compat:33: error: new declaration 'uint8_t digitalRead(uint8_t)'
C:\Program Files (x86)\ArduPilot-Arduino-1.0.3-windows\hardware\arduino\cores\arduino/Arduino.h:100: error: ambiguates old declaration 'int digitalRead(uint8_t)'

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APM Copter 2.9.1.b has been released

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