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
I found this in Wikipedia, I thought it might be of interests in this context.
http://en.wikipedia.org/wiki/Inertial_measurement_unit
The last thing you want to do is enable the brake. The Prop. slows down quite fast enough with aerodynamic drag. The reason for descent wobble is down to the fact that the angle of attack creates a partially stalled blade. Less pitch angle and wider blades that are much lighter confirms this fact beyond any doubt. You can create more stability with prop tuning than PID settings. All you can do with the PID is try to tune the response signal to match the characteristics of the motor prop. combination whereas you should first look at the prop. Put a heavy large dia. prop. with too much pitch angle on a wookgong and it also becomes unstable. Whatever reasoning you may have regarding linear response curves it becomes less the faster you can make your mechanical thrust change.
I tried 2.1 in loiter with soft wind, is better but there's many motor speed variation TOO HARD, with fine pid tuning it's the same.
And there's a lot of difference with front and rear wind.
Please Jason you must intruce in the code a new parameter called "motors smooth" like Mikrokopter, with the same functionality i've write and explain on my post yestarday.
Some hours and i post here a new video with loiter (with baro enabled) and you can see what i mean.
What rz_ten described above is exactly the same issue I've reported on page 17 and no one replied. After a couple of seconds flying I need to hold my stick on bottom right for my copter to keep position. After landing and start flying again the process restarts.
Congratulations to Jason and to All the DIY Drones Dev Team...
Regards, Jean-Louis
This's my logs. But , I don't understand is about is have little noise sonar in begin Code .50 to 2.1. Even though , I used cable and RC filter but it have noise. And I will back to upload .49 my sonar is normally haven't noise.
2554-12-18 12-11 1.log
I have the feeling that you get stuck on Arducopter drones with arms long enough.
Just an example: if a series of readings of the same value, such as the gyro is "01-01-01-02-01" means that there is little variation, so the engine speed to the various engines should not be changed, if is "01-01-02-02" there's variation then gives the command to the motors for stabilize the drone.
Listening to the rpm of the engine with DJI i feel that it is more variations on linearity correction, aggressive but linear.
In many systems such flybarless improved flight attitude by archive this info.
Not knowing how to read the code i can only guess ... : P
Jason, I just download 2.1 r. but when i will compile, It have problem.
test:150: error: ISO C++ forbids declaration of 'test_eedump' with no type
ArduCopter.cpp: In function 'int test_eedump(uint8_t, const Menu::arg*)':
test:150: error: new declaration 'int test_eedump(uint8_t, const Menu::arg*)'
test:70: error: ambiguates old declaration 'int8_t test_eedump(uint8_t, const Menu::arg*)'
Ok, I'm an idiot, can't get the GIT thing working.
When can we get the .zip file on the normal download site?
Then, I need to cut down the code to fit on a 1280 board, will deleting the Tri, Hexa and Trad heli bits trim the code down enough, leaving at least the CLI intact ?
My first impression about 2.1 Alpha is accettable in my opinion, but there's strong wind today here and is impossible test the stability and good pid tuning, tomorrow i hope in better wheather condition.
When i engage loiter the drone going to ignote destination (LOL), bad large circle with very big inclination, i hope is just a pid problem... :P
But in the same bad condition my "Droidworks Okto (Mikrokopter)" was still in the air, with costant 5°/10° of inclination for contrast the gusts of wind, without changing pid... triple damn! :-)
Jason or Chris, please can you explain the difference in the two loiter mode in this alpha?
Another: the "super simple" have the same concept about "Teachable Carefree V2" of MK?
http://www.mikrokopter.de/ucwiki/en/CareFree
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