Ardupilot 2.1 is out and can be downloaded by the mission planner (or with Git). You must have the latest version of MP to be compatible. If you're compiling with Arduino, you must use the "mrelax" version of Arduino that is in our downloads section. This is because Arduino was never tested with code larger than 128K. And since our code is probably the most complex Arduino project ever, we found the issue. This altered version of Arduino allows you to specify a special compiler flag that makes it work again. Otherwise it's functionally identical to version 22. When we transition to 1.0 of Arduino, you won't need to use a modified version, since they have patched it for us.
This version has a few new features, but is mostly a bug fixes and compatibility with APM2. The nav routines have been updated and well tested. I'm getting very reliable results now.
One new feature that I snuck in was SuperSimple mode, which re-calibrates simple mode when you are flying with GPS > 20m from home. It allows you to fly in any direction in Simple outside of this radius. Check the wiki for more info.
Added Auto_land mode to help with Failsafe implementations.
Here's a video I took flying WPs using CH 7 to toggle record them. I flew back and forth over the park to se how straight a line I could maintain and how repeatable it was, then I recorded a few waypoints to the left and right, then I recorded a landing wp by toggling CH7 when the copter was on the ground. The landing could be improved, it was trying to maintain a location and didn't level out in the last meter to the ground as it should. I was missing the screw holding my Arm in place so it folded in just a bit, no real damage done. BTW, this video is W/O a sonar.
The next video is of the Loiter control. I improved loiter a bit with a bug fix and the stability patch from the stabilization. Wind was mild. Could be tuned just a little higher.
Here's a video from Dec 17 showing WP recording. The radio was on the ground the entire video. The 3DR frame did not have a sonar on it. The landing was recorded as well.
Upcoming:
Tridge wrote a Geo - fence routine to restrict flight within a certain area for Arduplane. We'll port that over to AC. You'll be able to fly acro inside a safe area and have it go into AP if you loose control!
We need one more pass to finalize the Optical flow integration.
Finalization of the Z Accel code.
Have fun and fly safe,
Jason
Replies
Hi Jason, after installation 2.56 release, I try to test sensors, and i find sonar rate between 32 to 46 cm no higher. In the older version no problems with the test and alt-hold flying.
It's maybe a test issue, and don't compromise stability when fly. What do you think?
Great job.
Mike
Just tested.
Halt-hold seems to be really smoother but the thottle reference really has to be updtated because it is really hard to "start" halt-hold with a good throttle reference for overing
Maybe not related to this revision but the copter turned 90° or 180° several times (7 or 8 times) just like when I tred without compass. really strange an disturbing. This happened in Halt_Hold and Stable mode.
Cannot get any log from this flight, though I erase the eeprom and logs.
Hello Jason and All,
I have done a successful test flight with the v2.0.56, the ALT_HOLD is very very stable and smooth, good work Jason...
I have updated and modified some files:
log.pde (the original log.pde doesn't work for me working, so this log.pde is working...)
navigation.pde (corrected the bug on loiter lat)
config.h (adapted for QRO frame + magnetometer setup)
Below my working PID setup for the v2.0.56a and the log of the altitude:
You may download my updated firmware v2.0.56a HERE
I shall record a video of a test flight asap...
Regards, Jean-Louis
Just tested this version but drifts all over the place.
Woow, Thanks Jason.. I shall soon try this,
Good work, Jean-Louis
How does this fit in with the seemingly much-more-than-incremental changes to control/performance brought to show by recent posts on ESC warez upgrades? That dude's video showed an atducopter behaving better than any other e-pet I've seen EVER in the open source scene I
I noticed maybe one mistake in Navigation.pde Line 67:
int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
int y_iterm = g.pi_loiter_lon.get_i(y_error, dTnav);
should probably be :
int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
int y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
On my system the log it doesn't work... Jason,please when you fix the internal log?
Jason,
If ALT Hold have some oscillate, What i should adjust throttle_hold P or I ???
I will test it about afternoon in Bangkok(Thailand).
Thank you,
Balloon
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