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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Have you updated the firmware on the gps to 1.9?
MP supports all released versions of the flight code.

I am rolling back to MP 1.2.13 (Mav 1.0) in order to use ArduCopter 2.8.1, since this one (1.2.13) allow me to do correct the accel calibrations (one single step)

With the lastest MP (e.g. 1.2.48) I can not do the calibration of accel, since this version requires 2.9.x (with INAV and multiple steps: level, left, right, up, down, back) and if you try to use the calibration, it does not work.

My impression with 3.0rc1. Thanks Dev Team!!! I really like how smooth loiter is after flying in heavy winds without tuning (based on my 2.9.1 tune). Wind was 15mph and gusty, yet it followed my stick in puts very precisely... way outshining my friends Naza GPS. AC3 is so precise that the camera footage is a bit jerky. I like it on the stiffer side myself, but some might not approve. However, you want the bad news too, so...

IMHO the default loiter speed was very weak topping 15mph; I figured I could get 30mph by increasing "WPNAV_SPEED" from 500cm/s to 1000cm/s, but when I try to do that in MP 1.2.48 standard parameters, there is a bug that sets the parameter to zero, and then it cannot be increased beyond 50. I can edit to 1000 through the advanced menu, but still... will later report on loiter speeds with WPNAV_SPEED=1000. ;)

What's with the cryptic logs? I used to be somewhat fluent in APM log, but with the new format I'm kinda lost. In practice it was great holding solid with gusty wind, but I'd like to know how to be able to self diagnose if/when something does go wrong. PM logs are even changed, so not sure how much logging I can get away with. I learned the 2.9 logs by following along as Randy and the devs diagnosed other ppls logs, but was hoping for more of a crash course for interpreting 3.0 logs. Any help understanding the new logs would be great. :?

Is there a tuning guide for iNAV XY?

You can use the CLI to do the calibration until it's fixed, setup > level

No as we occasionally load arduplane and it wasn't supported.

I will see if I can do that as this apm is now staying put in the quad.

FWIW, I flew ATT_MED, GPS, CMD, PM, CTUN, NTUN, COMPASS, IMU, & INAV, and in my PM "MaxT" (I assume slowest loop in ms) got no higher than 12000. Not bad compared to what I was seeing in 2.9.1. Maybe this indicates 3rc1 can hande massive logging without a hit in performance? This is great, but still there's only so much logs you can enable before you have to clear logs after every flight. :P

i think this next release will be incredible but for the moment it s not reliable and need lots of testing before a release date!

randy and others dev team have made an incredible working

Flew about 15 flights today with 3.0

Only issue I had was that I had to tweak (channel 6) the declination each time.  One thing I noticed is that if this setting is off you may still get a good loiter for 30-60 seconds but then the quad can take off quick away from location.  The test that I did, I repeated 5 times.  If I am able to tune the declination and fly (in Loiter mode) for example North at a fast speed and then let go of sticks, and do the same going east, AND ther is absolutely NO oscillation, the loiter will stay indefifnately.


I own two WKM and today my APM 2.5 performed better than them.  Please note I have had no issues with Loiter in 2.9.1b but this is unbelievable difference especially in the landing, repositioning and even the alt hold (which I believe was inder inertial control) seem better.  I was getting for example 30.1 M to 30.3 Meter.......    .2 meter variation in height!

Hello everyone :-)
I tried to load 3.0-rc1, all OK, I reset the parameters to cli,
I redid calibration radio and configured in CH7 SAVE-TRIM APM
blip normal, but not ARMED, mode changes on the planer, but not ARMED :-(
APM 2.0

: -?

sorry my English is translated by google :-)

thanks jeff for you feedback

i think as soon as this problem will be resolved we will have an incredible plateform

I retract half of my statements above regarding logging confusion with 3rc1; apparently there was just an error in MP when I downloaded a couple logs, which resulted in some messed up bitmasks and incorrect data. Subsequent log browsing has gone well. I'm still unsure how to interpret logs for the purpose of iNAV XY tuning; need info on WNAV I think.

I recorded some onboard video showing exceptional loiter performance in strong gusty wind... will share after I edit/upload. ;)

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