The latest AC2 code is posted. This is the last code before the big switchover to APM2 codebase.
What you should expect: More stability and better handling, especially if your CG is not centered.
Heres the update list from the downloads section:
Most stable flying version yet. Includes new stability patch by default and a new DCM gain and clamp value that should reduce drift due to linear acceleration in missions or long flights.
Switched rate gain calculation to use raw IMU rather than the DCM's omega. This crisps up the response a lot.
1280 has lost local flash logging, sorry, but it's just not supportable any longer.
some older tests have returned now the program memory is freed.
Remember, to use the new logging format on the 2560, you need to erase it at least once to format it.
He're the video showing just the control loop patch. The DCM patch was added later and improved the handling some more.
Jason
Replies
Hello Jason and All,
I have just done a quick test flight with the Arducopter v2.0.55 on my QRO quadcopter and all seems OK with the same PID setup (see below) that I have used with the v 2.0.54 + stability patch. I have tested only the STABLE and ALT_HOLD mode due to the bad weather here. The roll/pitch attitude seems very stable in spite of gusts and a strong lateral wind.
Regards, Jean-Louis
Max Levine ref lashed his Jdrones ESC's with https://github.com/sim-/tgy/downloads and is raving about the performance.
Jason
I thinking is ALT Hold not same is .54 ?
Great video... Do you think that this will have a positive effect on handling windy conditions?
What exactly do you mean by "big switchover to APM2 codebase"?
The next code will support the APM V3 boards? Will it still work with APM 2560?
I noticed you didn't institute the "patch" for tail control on trad. helis? Is it just because it's untested yet? Or some other reason?
Your video looks interesting. Not only do you have that weight, but it's swinging making it that much worse!
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