Just posted this version which has an increased performance DCM implementation. This allows the main loop to run 50Hz faster without increasing the CPU load. I've flown this for 30 minutes and it's an improvement in every respect.
Circle mode now seems to be working just fine. This should be the last beta! enjoy testing!
Jason
Here is the Link to a download:
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I just upgraded to 0.46Beta, but I'm unsuccessful at turning on the battery monitor anymore. Is the IMU battery monitor no longer supported? Btw, I've flown it once, and initial impression is that it seemed more stable than 0.40.
I still have a mode problem with ACM 2.0.42 and Mission Planner 1.0.75.
I've enabled the Mission Planner mavlink console, and here is what i get :
when i put "Auto" on my transmiter, i get "Alt_hold" in the mavlink console
when i put "RTL" on my transmiter, i get "Loiter" in the mavlink console
Same wrong modes in the CLI.
If i correct modes in the CLI or Mission Planner, the changes are lost after reboot.
Modes were OK with previous versions.
Finally got the time and the weather to load up v42 and have to say its a big improvement!!
And I left everything default. Surpised be this because previous version Ialways had to twinker with stable P or D
Stable is stable like previous versions. Very good.
AH great at low and high alt.
Loiter seems great though needs some finetuning when there is some wind.
Tested RTL several times and the quad just comes back very easy. But altitude goes up and down. As AH pids are great, which should I change to adress the oscillating alt in RTL???
And the finally a mission. My first. Started of with 3 WP. WP 1 was just a waypoint, WP 2 loiter for 10 sec and WP 3 LAND. I took off switched to auto and of it went :-) What a great feeling.
But .... It seemed that the quad did everything I wanted but only at WP1??? So it went to WP1, stayed there for about 15sec and started to descend very slowly until it touched the ground.
I then reloaded the mission and tried again. But nogo. Samething and I had the impression that the quad was very unstable.
I'm doing something wrong??
What I also noticed on the planner is that the current altitude isen't correct. It also jumps up and down. I for example start at 0m and land after a flight with -8m?
A great leap forward.Thanks guys!!!!!!!!
Tested 42 using sonar and barometer with Alt hold in simple mode.
Next is to use waypoints and auto mode.
The copter is a very fun machine with the latest code.
at 3:45 there is a swing it found :-)
https://www.youtube.com/watch?v=ao3k0Ydhcyw&feature=player_profi...
I test push Down Arducopter ATL Hold ON.
This morning i did test flight with V42.
I used a Y6 configuration.
Only stablized and no sonar.
But with a GoPro. It was a calm day(wind speed 6 Km/h) and i get this video.
This is raw video and the servos of camara mount were switch off.
https://www.youtube.com/watch?v=z_eGViwEg8I
When the drone in moving we have a more stabilized image!
Dude!!!! Your code ROCKS!!! I can fly my quad 4 inches above my lap on alt hold! 10 out of 10!!!!!!!
First hand test today, after two monthes of preparation :=)
I loaded 2.0.42, did a precision leveling, checked all that could be checked.
I'm using a modified droidworx heavy load frame, about 3.7 kg actually. Hexa X setup, about 10 Kg total thrust.
I tested first rising slowly the throttle, but it wanted to flip on the ground. So i stopped this, as i think it is certainely not the right way to test. The gound was not level at all, perhaps this has an influence ?
So i decided to make a hand test. I was able to rise the throttle and get a good hovering in stabilize mode, just keeping the frame between 4 fingers, to avoid loosing the machine.
So all seems ok except the slow throttle rise on the ground where it has a tendancy to flip on the ground. Is it normal ? Should i try a real fly or do i need to correct this before ?
I notified that my throttle stick is only 1/3 of the total range for hovering. This seems normal as the motors have been calculated for about 1.5 Kg of camera / video transmitter load (not fitted actually). Could it be a problem to not have the throttle stick centered for hovering ?
Thanks to all developpers and community for all the great work. I was really pleased to see my first multicopter machine hovering almost perfectly at the first try.
Next tests later this week i hope with a real flight. The weather seems perfect.
Great work for the Ardu community, Jason and the Ardu Team. Still not tested on my frame but i hope tomorrow or this WE.
I think this is the log file from my crash yesterday. posted wrong type of log earlier.
2011-09-13 01-40 1.log
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