I pushed 2.0.43 to Git.
What's new - Simple mode is dead. It's now an option per switch position. There is an APVar bitmask called simple_modes or "SIMPLE". Setting any bits 0 - 5 to 1 will cause that switch position to access simple mode. You can also do this with radio channel 7 if you compile for it.
Until the mission planner is updated, you can use the CLI by using the rudder as an on/off swicth in setup::modes. It's very easy.
There are now two battery values to set, input_voltage ("IN_VOLT"), and low_voltage("LOW_VOLT"). These are for folks editing battery information.
Circle mode is now tested and running well. It's very cool, but requires dialed in Loiter PIs.
Guided mode is not tested but should work just fine.
Lot's of other minor tweaks and code cleanup.
Jason
Replies
Jason, is the code in git right now compilable?
ArduCopter.cpp: In function 'void roll_flip()':Attitude:87: error: too many arguments to function 'int get_stabilize_yaw(long int)'flip:48: error: at this point in fileflip:62: error: 'get_throttle' was not declared in this scopeflip:75: error: 'get_throttle' was not declared in this scopeheli:4: error: 'get_throttle' was not declared in this scopeheli:13: error: 'get_throttle' was not declared in this scope
Or is it my fault?
I see that MK are using a 3 deg. incline on thrust angle to tighten up yaw response
Clockwise and anti. lean against each other.
https://www.youtube.com/watch?feature=player_profilepage&v=yJJWz...
I had a great time today with auto mode using .43 and mission planner version .73.
It was a little windy at higher altitude.
The copter performed well.
Jason how much higher Kv? Less pitch on the props. also?
I've tried, in 2.0.43. I use a 1000kv motor, loiter still shifted (qc not return to the starting position after the slide) and rtl also does not work good. how the PID settings for this 1000kv motor?
Thanks...
I think the real problem here is that we are dealing with many type of radios. This is a project aimed to cover as many users as possible.
It has to deal with low-end 6ch radios to high-end 14ch ones.
The best option would be to let user choose how many spare channel they have and let them choose what to put on every channel.
In my 6ch radio I would love to have STAB-LOITER-RTL on one switch and ALT_HOLD on another.
If I had a 7ch radio I would add the Simple mode, or the AUTO mode.
Assuming somebody has a 6 (or 5) position switch on one channel is a little too much (does it even exists?).
You still have to use mixes and/or program your other switches to interact with that, bu you don't have the flexibility to mix the functions.
As requested by many, ALT_HOLD should be an option for the STAB-LOITER-SIMPLE and why not even the RTL mode.
I would love to switch LOITER on, rise my copter up in the sky keeping the position and once happy with altitude, just switch on ALT_hold. Take a nice pano, and come down.
I think flexibility should be the key term, not complexity.
BTW, just as an inspirational video :http://vimeo.com/28984074 I love the dynamic position hold and the vario altitude feature! Some of the other features we already have :)
Hope to offend nobody, this is just a viedo I like to watch to get inspiration for this project.
Cheers,
Emile
Why not going deeper ?
Actually CH5 is used for mode selection, and this gives six different modes. Rising the positions number is possible, but would be less reliable because of smaller space between PWM values.
Using a second channel (CH7 or 8) could be done, this would give 36 positions, or a bit more than 5 bits of informations.
The general philosophy is to have two base modes :
- STABILIZE
- ACRO
A set of 4 options :
- 2D GPS
- ALT HOLD
- YAW STABILIZATION
- USER OPTION
And 4 special modes :
- Auto
- RTL
- Recovery
- Destruction (User Mode or Reserved)
So that we can use every combination we need.
I did create this mapping, keeping compatibility with actual modes and trying to keep maximum reliability (more dangerous modes use PWM high values) :
Jason,
If I am understanding this post correctly, you have essentially broken SIMPLE mode out into its own switch so that you can run SIMPLE and STABILIZE simultaneously? Is that correct? What is the advantage of this?
Thanks,
Adam
mmm, did some testing on .43 yesterday, I also noticed that right yaw made it climb, can't say it droped upon left. All PID default values. Have to do more testing and PID tuning.
Did Robert find something new?
http://www.rcgroups.com/forums/showpost.php?p=19351855&postcoun...
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