Arducopter 2.7.2 is now in the mission planner and in the downloads area. Some positive reports on testing can be found in this discusssion by John Hanson.
Note: just as the release was going out an issue was found re support for the all Camera Gimbals on the APM1s (it doesn't work) and with 3 axis gimbals on the APM2 (2-axis works ok but not 3). If you're one of these people, please wait for 2.7.3 which will be out shortly.
UPDATE: 2.7.3 is now in the Mission Planner
Functional Improvements over 2.7.1:
- Fast waypoints (Jason) - if the turn angle between two waypoint the copter is less than 60 degrees it does not slow down
- Navigation improvements and logging including switching to filtered location for distance calculations (jason)
- Flip improvements - more aggressive and flexible flip code based on attitude instead of timing (Jason)
- Improved camera control - you can now control any axis (roll, tilt, pan) with any rc channel. it probably makes most sense that you will use 6 but others are possible too. Unfortunately these changes required we change the set-up procedure so the mission planner gimbal set-up screen needs to be modified again. Please refer to the AC_Camera wiki page for how to manually set-up the gimbal (Amilcar)
- Flybar acro mode for TradHeli (Robert)
- "Fast gains" - allows strong correction of attitude using accelerometers while the quad is stationary on the ground but relies more on gyros while flying (Tridge, Jason)
- Baro filtering improvements (Tridge)
Bug Fixes:
- DMP timing fix (Randy) - the MPU6000's dmp unit was inadvertantly turned on and caused timing delays in the main loop- xbee bricking issue (Craig / Tridge)
- Dataflash fixes (Jason)
- Engine ticking - was a combination of roll/pitch rate D term being too high and the dmp timing fix above (Randy, Emile)
- Faster heading correction on start-up - resolves issue with simple mode getting incorrect heading if you took off very soon after start-up (Tridge)
Code Cleanup:
- Increased maximum number parameters (Tridge)
- Formatting changes to code (Pat)
- Replaced "int" with "int16_t" everywhere (Randy)
As per usual PIDs are optimised for the 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props and are seeing bad flight behaviour in stabilize, start by turning down Rate Roll P in 25% steps.
There is still some question on whether the default Roll/Pitch Rate P (0.175) is high enough (it was 0.185 in 2.7.1) and also some people feel the Throttle Rate should be higher (currently 0.300 but some say 0.330 or even much higher would be better).
Please feel free to report issues you find in the discussion below and/or add them to the issues list.
Thanks and enjoy!
Replies
Jason's just checked in a bug fix for the premature mission exit bug and I've done a quick flight test and it does resolve the issue.
As a number of you above have noticed, this was causing missions to abort after the 2nd last way point was completed.
The fix will be out to everyone when we release 2.7.4 (release date TBD). I suspect you can temporarily get around the problem by duplicating the last way point although i haven't actually tried that work around.
On behalf of the dev team, sorry!
Hi I have an APM2 with onboard GPS. I get a solid blue LED on the GPS modual, but the the blue "c" LED on the apm does not even blick. It is supposed to blick and turn solid when GPS lock is achieved?
This is backed up by the fact that I do not see a GPS lock on my computer with telem.
And I cannot switch to stabilise mode.
Is there any thing I can change in the firmware of settings?
Or is it a HW issue?
Thanks
EDIT:
Trouble shooting page shows that I should not power at 6v from external BEC.
Changed to 5v and it works! Never get over how finiky these things are...
Had a chance to fly my quad around a bit past weekend, thanks team, loiter seems quite good :-)
Hello
Can anyone tell me why this is happening when I only pull throttle. This started happing when I updated the quad to 2.7.1 and my remote to er9x firmware. I took this quad appart so many times to check connections that people think I have ADD. One ESC does get warm but I think it is because he gives power to the APM, and 2 motors makes a click, click noise.
hello Randy,
Is alternate data radio supported in this release Eg APC220 Radio Data Module?
Finally got the time to load the new code.
I had a lot of trouble getting the code loaded. Each time it disconnected in MP and Arduino said there were problems.
After a couple of attempts I finally got it right. Strange.
Took the quad for a spin in the garden and as ussual stanb was great. Alt hold was quite good but sometimes it wonderes up and down slowly for a about 2 m.
Loiter also good but the small correction twitches are still there but smaller.
Ublox is underway, I hope this resolves it.
Good work dev's !!!!
Hi guys, can anyone point me, how to connect the 6 motors on my hexacopter, the board is an APM2, also can´t find any info about the correct position for the propellers ! thanks
Gil
First FPV flight today.
Tested ALT_Hold for the first time and it was working so good, I actually managed to set down my transmitter and strap on my homemade FPV setup (Welders mask using Tupperware square containers with a 5" car back-up monitor in the bottom of the Tupperware, all duct taped together).
Flew for quite awhile. I could get used to this! I need more range for the video TX though. 200mw only seems to be good for 100 meters or so. I'll have to check the logs when I get home.
The only problem I had was with RTL. It came back fine, then for some reason just dropped to the ground really hard. As it started falling the last 3 or 4 meters I tried to switch back to stabilized, but only got the switch to alt_hold before it hit, I put the throttle into disarm as it hit and bounced upside down. Only chewed grass for a 1/2 second. My first "un-perfect" RTL. I need a Sonar.
Hi guys,
Well done on the hard work. As you can see from my earlier post however I'm having problems with the gimbal configuration as of 2.7.3
After a lot of erasing eeproms, uploading from Arduino and the MP and testing on different laptops I resorted to setting all variables individually as described ain the wiki camera instructions
Everything works OK until I change RC11_FUNCTION to 7 (tilt) at which point my serial connection drops and becomes so unstable as to be unusable. I have to putty onto the board to factory reset in order to be able to reconnect with the the MP. Strangely the RC11_FUNCTION setting to 8 (roll) works OK. I've now run out of ideas.
Can anyone help?
Question regarding camera mount. Where do we adjust gain for pitch and roll?
And the mount centre point?
Thanks
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