There is a preview on GIT right now. I flew a version of this
The PWM output has been set to 400hz (to counter the low pass filter in most Turnigy PWMs)
The DCM's Roll and Pitch gains were lowered to .03 (recommendation of Hein Hollander)
Mavlink has gotten a re-work for performance and memory savings.
Added a scaling factor to camera Roll And Pitch CAM_P_G, CAM_R_G in the params list.
Fixed some bad PID values for Alt hold that were giving folks trouble.
Exiting a WP for another is faster and more controlled now.
Added user hooks for those who want to execute their own code inline.
Increased loiter speed to center when the copter is flown > 400cm (now 800cm).
Loiter in action.
Jason
Replies
Another day, another problem. I've added a sonar (Maxbotix LV EZ0- http://www.maxbotix.com/documents/MB1000_Datasheet.pdf) to my hexa and i connected it like this :
The problem is that when i activate Loiter mode under 10m aprox the copter is slowly descending. If i activate Loiter mode above 10m it is holding the altitude. The sonar is activated in MP. I've made some tests indoor (play with my hand in front of the sonar) and it seems that is is working. What could be the cause ? Also i've loaded the log file in MP, it seems that the baro and sonar values are reversed....?!?! I did not find the throttle out value to put it on the log graph?!!? Here is the log file http://dl.transfer.ro/transfer_ro-08nov-be1343d4c1c.zip . Any kind of help is appreciated.
I have a mikrocopter hexa xl frame with avroto 750kv motors, APS 11x4.7 propellers and AC2. With standar PID is incredibly stable, but in the fast descents in the transition to hover has strong oscillations, which are fixed pushing up the throttle momentarily. I tried to lower the P rate, but it still does. I will try to lower P rate more.
Alt hold with sonar, its very acurate.I have problems with GPS Position hold. It doesn't want to maintain position. It has a permanent drift until I recovered in stable position. Does anyone have any idea what could happen? (the GPS position is fixed and blue LED it's solid on)
2.0.49 Loiter Mode
How would i go about making the quad less roll responsive? I've built a custom frame, m2m 457mm, a lot shorter than the 600mm of the Arducopterframe, but much lighter. The Arducopter could not manage the extra weight of a camera, so i designed my own.(will be doing a full blog on the build and share files). There is no woble while flying but it refuses to stay in one place, it keeps flying around. And is really sensitive.
Where should i start to try and make it stay in one place?
I wonder if it would be possible for someone involved in the Arducopter RTL demo video to post the 2.0.49 flight log from this please? This video shows the Arducopter using alt hold and RTL while the radio transmitter is on the ground and no manual correction required. This would be very handy for those of us trying to get the same level of stability using 2.0.49 on a standard build arducopter. Sometimes it helps for debugging purposes to see the actually sensor and imu plots for comparative purposes. Also a dump file of the parameter settings would be appreciated as well.
Tested a mission with 2.0.49 today and it went well until the second waypoint. The copter seemed to have missed it and turned around, back to it, pretty aggressively. It then started hunting the waypoint VERY aggresively and I aborted. It went very smootly from waypoint 1 to 2 though and RTL is also very smooth. It seemed like once it had missed its waypoint, all restrictions were off and it could go crazy :-)
hi
i use 2.0.49 firmwar, all work fine but my GPS give me error coordinate, my location is lat46.802997, long-71.176128 and the gps (MediaTek MT3329 GPS 10Hz) give me that lat 46.802997,long 146.187650, always error on long ( signal 6 Sat and GPS Lock solid), what can i do befor changing GPS ?
Thanks
Jason et al. a possible bug in the calc_loiter function:
float temp = radians((float)g_gps->ground_course/100.0);
If you get the ground course of the GPS while in loiter you will probably get wrong results, ground course in GPS is reliable only when travelling at speed > 5 km/h. How can you get it while Loitering?
You then use this to calculate rate error:
x_actual_speed = (float)g_gps->ground_speed * sin(temp);
...
and calculate PI on it.
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
This probably explains why the copter flies around. When it reaches a decent speed, it gets the correct bearing and then heads to the correct location, resulting in a sort of circle.
Please correct me if I'm wrong.
Emile
I switched from 2.0.45 to 2.0.49 today and managed to get two flights in towards the end of the day in calm conditions. I tried ALT Hold on both flights and the quad is jumping i.e motors are pulsing again. It is quite pronounced now on 2.0.49 than it was when I tried the same hardware setup on 2.0.45 i.e it was very intermittent. Now if I had not spent the last three weeks focusing on the sonar I would be looking at the usual suspects but now I see the familiar throttle oscillation but more intense. My Sonar is mounted well clear of the electronics( ~ 4"), has a power filter and good shielded cabling. The worst part of the ALT Hold behavior is the unexpected climbing. I was very lucky to catch the quad because before I could blink it was (according to the flight log) some 133ft from the ground. I tried engaging ALT hold a few times and it just keeps trying to climb. I thought it might stop once the baro kicks in but this is how I manged to almost loose my quad when is climbed at the highest rate.
I tried Loiter mode next and the quad is not able to stay on point. The GPS is locked solid the whole flight so I am not sure why the quad seems to eventually fly away from me requiring manual intervention to bring it back. Pehaps to standard Loiter radius is very large in the default code settings, Do we have to change a value to make sure Loiter keeps the quad in a tight radius?
I really am so close to giving up on this project as I cannot seem to get anywhere near what other people are reporting, especially on 2.0.49. So far I have changed 6 motors to get a really low vibration free frame, replaced 2 sets for prop spinners again for balance reasons. On the electronics side I have replaced one ESC and the IMU Shield and the APM. All to remove possible sources of interference or faults.
Is there a way I can temporarily go back to the 2.0.45 code using the mission planner or will it only load the current linked code? I want to try the exact setup to see if I have the same issues due to some new electronic problem rather than the software.
My arducopter is a standard build (complete kit) except I am using the store offered 880KV motors with 12 x 4.5 props.The only parameters I changed on 2.0.49 is reducing the Stab Roll and Pitch P to 3.2 and increasing I to 0.01 respectively. One last check is the Maxbotics XL-Sonar EZ0 (MB1200) the correct sonar?
FInally got good enough weather to test 2.0.49 on my standard frame. Loiter is working really well after I tuned my Nav_loiter_P to 0.279. Oscillation is gone and it hovered very nicely in a 3 meter circle. It was the first time I felt safe doing a loiter in close quarters. I flew 6 packs checking things out and I did a 6 minute loiter at 15 meters in a small wind with excellent results. Baro hold is up or down 4 or 5 meters, but loiter was very good and I was more relaxed on the sticks then ever. Awesome.
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