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!

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I seem to recall it was the result of a code change (and a possible mistake).

It was discussed in one of the 2.7x threads but those threads are so long I can locate the discussion.

From memory it was suggested to modify it ourselves, then it was made default in a later release, seem to remember to 10 then to 8.

Peter

Sounds like a throttle mismatch, adjust throttle max setting in mp should cure it. Adjust until there is no rise or fall when switching.

Peter

dudz, thanks for the video, would you mind posting the mission.txt file?

Not that I can help exactly but I am interested in finding why your mission went wrong! Also I'm trying to figure out why several MP mission commands are not doing what they are supposed to do! I think this is the problem with your mission.


Peter

quick tip, make VERY sure your motors are perfectly straight up on quads, especially with bigger motors/props, we had some terible issues with the latest code but after straightening the motor mounts all the funny issues went away, here's a quick shot of the quad :) will try load some more fpv soon.

SteadiDrone QU4D Airframe
APM 2.5 + 7.3.1
710kv T-Motors
30A ESC
12" APC SF props
5200mah 4S lipo - 15min easy

QGC WPL 110
0 1 0 16 0 0 0 0 48.327631 -3.175381 223.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327767 -3.174974 25.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327874 -3.174588 30.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327788 -3.174105 30.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327767 -3.173729 30.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328238 -3.173332 30.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328259 -3.172903 30.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328444 -3.172538 30.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328794 -3.172131 30.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329022 -3.171841 30.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329272 -3.171551 30.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329493 -3.171240 35.000000 1
12 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329750 -3.171444 35.000000 1
13 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329964 -3.171830 35.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 48.330235 -3.172216 35.000000 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 48.330449 -3.172603 35.000000 1
16 0 3 16 0.000000 0.000000 0.000000 0.000000 48.330534 -3.173118 35.000000 1
17 0 3 16 0.000000 0.000000 0.000000 0.000000 48.330377 -3.173590 35.000000 1
18 0 3 16 0.000000 0.000000 0.000000 0.000000 48.330078 -3.173890 30.000000 1
19 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329921 -3.173568 30.000000 1
20 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329778 -3.173053 30.000000 1
21 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329407 -3.172088 30.000000 1
22 0 3 16 0.000000 0.000000 0.000000 0.000000 48.329258 -3.171830 30.000000 1
23 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328872 -3.172324 30.000000 1
24 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328644 -3.172646 30.000000 1
25 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328459 -3.172925 30.000000 1
26 0 3 16 0.000000 0.000000 0.000000 0.000000 48.328159 -3.173128 30.000000 1
27 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327753 -3.173375 30.000000 1
28 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327767 -3.174362 30.000000 1
29 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327767 -3.174716 30.000000 1
30 0 3 16 0.000000 0.000000 0.000000 0.000000 48.327553 -3.175070 25.000000 1
31 0 3 21 0.000000 0.000000 0.000000 0.000000 48.327481 -3.175403 25.000000 1

Yes, I will clean it and introduce values for this version. There's no point on having old values since it looks like something has changed in the control laws. Today I restart my classes, when I arrive from school I'll put in my parameters and yours. This print screen is from your hexa right ? If you can let me know wha't the motor to motor size, motor type and kv, weight, gps model, prop size and type and battery. Thanks

That's akward. Even tough I have my motors straight, I thought if we had them a bit tilted inside would improve yaw authority, wich makes some since the multi would not only be using the torque difference but also motor thrust to rotate.

Thanks dudz, got it!

THR_MAX is the one to adjust see pic!

Keep your low end the same, just tweak the max setting! I found it varies with different Tx's My futaba FF9 is best with THR_MAX = 850, but my MPX royal evo needs the default 1000.

Peter

Attachments:

Mine is set To default 1000.   I was referring to Thr rate Imax when I said 185 . I assume I lower the 1000 then ?

Dani - help please...

I tried to set up my CH-6 (Aux2 on the Spektrum transmitter) to tune the altitude-related parameters, but no matter which parameter I selected, the Aux2 control on the transmitter changed nothing on the parameters page of MP after refreshing (over 3DRadio link).  I plugged in the USB cable to use the CLI, and entered "Test" and "Tune" - my understanding is that this should show the relative position of the Aux2 knob within the min-max that I set into the CH-6 parameters in MP.  It never changed - stuck on .500 - can you think of what I may have missed?

I suspect that my poor ALT-Hold performance is because my hex is heavy.

Also, which parameter did you find helped the ALT-Hold the most?

Yes, I'm curious about the reasons for the statement?

yes those are for my hex. My quad  is using defaults.

I have Droidworx top frame with home made lower carriage with feet and battery bay integrated. Tiger motors MT2216-12 KV800, APM2.5 Board, 2.7.3 firmware, 12x4.5 Carbon Fiber props,Sonar, 3DR GPS uBlox LEA 6 GPS, 3DR Radio 445mhz, 5000mAh 3S Lipo.  2Kgs and 2.45Kgs with Battery. (Optic sensor yet to be wired up)

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