In just a short while, ArduCopter 2.7 will become available for download in Mission Planner. As we worked on ArduCopter 2.6.1, we saw that it had several new and compelling features (as well as many bug fixes and improvement) so it was decided to make this a major version release.
A full list of changes is here, but they include:
New and Improved:
- NEW: 3-axis camera stabilization
- NEW: AP_Limits library: Altitude limits and geofencing.
- NEW: Automatic Flip (Roll axis) is now enabled on Channel
- NEW: GPS lag estimator
- NEW: the quad first rise vertically to the "ALT_HOLD_RTL" altitude (if declared) when engage RTL
- Better altitude control in ALT_HOLD and better altitude transitions
- Better loiter, rtl and auto missions, especially with the new 3DR uBlox GPS. Check out my video above!
- Better yaw control
- Better DCM implementation, resulting in noticeably smoother flight
- Better velocity control in Auto missions
- Etc
Bugfixes:
- Fix to dataflash erasing, which should resolve an issue some users were having
- Fix some MAVLink commands
- Fix Circle command
- Fix some units
- Etc
Notes:
No more 1280 support (out of program space)
Know issue:
- throttle stick during loiter need better rpm range
Cheers,
Marco
Replies
Sorry to re-post this here but I really need some help with this
http://diydrones.com/forum/topics/xbee-adaptore-wont-talk-to-xbee-m...
I have a new Xbee pro adapter from Jdrones I am having trouble to work withe the Xbee pro XBP09-DP module.
I know its not the module that is the issue because I have another adapter that the module works fine with. I have tried both the baud 57600 and the 9600 but I always get the popup instruction to push the rested button. Ive tried the reset using a jumper to connect the GRD and RESET on the adapter board but nothing happens.
I have followed the instruction in wiki how to reset/unbrick the adapter and module to reset the firmware. But nothing works.
I am using the FDTI cable. When I plug this in I get a blue LED on right top side of the adapter that lights up which seems normal compared to my working Xbees. When I open X-CTU and click Test/Query a green LED to the top left of the adapter blinks for a few seconds and then goes solid green when the "Action Required" box pops up. When I close the popup box the green LED goes off. That's as far as I can get it to go.
Ive tried to upload the firmware from my other Xbees, but nothing works because the X-CTU cant communicate with this adapter. Any idea why this isn't working and how to reset the adapter (not the module)? Note, this all works fine using the FTDI cable on my other two Xbees.
I am setting up the optic sensor and like to know what is the angle width of the lens. I am fixing it to a leg strut at 200mm from the ground. The bottom leg cross been is about 100mm of to the side where the optic sensors center focus point hits the ground. Will this leg strut interfere with the sensor and be in its field of view? Also does the optic sensor work together with the sonar?
My new Xbee Adapter wont talk to Xbee module. Can someone please help?
http://diydrones.com/forum/topics/xbee-adaptore-wont-talk-to-xbee-m...
Last night I was flying my quad to drain the packs after crashing my heli again. I've got the Ublox GPS on it, but I noticed the Loiter and RTL performance was really quite bad. Error of... at least 20 feet. Previously I've had the rock solid performance we've come to expect from the Ublox. When I got in, I checked the space weather, and apparently it's fairly stormy up there.
So is this type of performance to be expected when there is high solar activity? Or is something else going on?
Right off the start I noticed that it had taken a long time, maybe 15-30 seconds to get a lock, which is unusual for the Ublox.
I see its now gone to 2.7.1. What issues were fixed in this revision?
The last weeks I was chasing vibrations on my T-Rex 450, new Bearings, new flybarles head....to get the vibration down as much as possible. But still there are some, (you can’t totally avoid vibration on a Heli) so I tried to isolate the vibrations to the APM2.5 with different padding’s, in the case, without the case, different locations, but with not much success. Still always less or worse attitude drifts (in some case unflyable, nearly lost the Heli twice) . The only way to minimise this attitude drifts was through change of head-speed quite below my favourite 3100rpm to around 2700rpm.
It’s now flyable but still small drifts, which negatively influences all other flight modes. :-(
I think this is much more obvious on a flybarles T-Rex450 then on a quad, as one mentioned if you going from a quad to a T-Rex450 it’s like going from driving a bus to a super bike, the T-Rex450 is much more reactive.
I’m sure it’s about the relationship between sensor sample frequency and vibration frequency, aliasing.
Is there any way to increase the sample frequency?
Speaking of drifts, since I upgraded to ArduCopter 2.7 I noticed also a Compass drift. After replying the log of my 1. test flight, I realized the heli was pointing about 90degr. too much to the left.
I placed the heli on the table pointing SW. If I turn the heli by hand to the right to NW and back to SW, the compass ticks slowly past SW to almost S and then stops. If I do the same procedure the other way round, SW to SE and back to SW, the compass drifts slowly past SW to W and then stops.
There are two different headings depending which direction I turned before stopping.
There was nothing obvious before the 2.7 upgrade.
Any suggestion please?
Here are params that I used with this flight
2.7tri.param
I'm back from field - tested a bit v2.7.
Saw here people having problems with motors. I must say have the same issue - motors speed oscillate (better vibrate) without my intervention.
Motors running is not smooth at all. Never had such observation with previous versions.
Next issue - I have tricopter so this is perhaps related only to this frame type:
when landed down and want to disarm motors tail servo traveled quickly to its limit position and stayed there (according to rudder stick position when disarming motors). Motors were disarmed, but the servo stayed in its limit position. Tail servo is on 7th channel so I wonder what would happen with octocopter when disarming motors...
Next issue:
in loiter mode tri is wobbling vertically a lot (+ - 2 meters). I know I don't have sonar but this wobbling I didn't notice with v2.6 and even earlier versions( I mean not that swift wobbling). On previous version wobbling was there (on v2.6 only minimal) but with 2.7 the wobbling was like jumping on the rubber strip (of course not that periodic).
General my feeling is not good and reverting back to 2.6.
I'm bit sad because I was soooo happy when 2.6 came and thought 2.7 will be at least that good for me as 2.6.
If somebody interested I have also log from the last flight.
2012-07-30 17-22 1.log
Why two v2.7 threads? One blog here http://www.diydrones.com/profiles/blogs/arducopter-2-7-released
and one forum thread here: http://diydrones.com/forum/topics/arducopter-2-7-released
Please depreciate or delete one as they're both active.
Had a few more flights today with APM2/V2.7/X525 frame in very low wind conditions and have a couple minor issues: there's a wobble in Loiter that's not apparent in Stabilize, my Stabilize is very, very smooth (Rate_P = 180, Rate_I = 100 and Rate_D = 9) but switching to Loiter causes a nervousness that I haven't seen before on previous versions.
Second, very occasionally things get out of shape quite badly. Eg. I left the motors running very slightly once (so as not to have to re-arm as the auto dis-arm is very short) while I did an adjustment to the params and when I took off again (sticks level) the quad lurched in one direction very badly, nearly tipping over, I throttled down completely and tried again. It then took off perfectly as if nothing had happened and flew 100% for the rest of the battery.
On another flight I placed the quad down, connected the battery, waited, armed it and took off and the quad leaned and yawed unexpectedly and aggressively before righting itself and settling down (it wasn't a leg getting hooked or something like that) and the quad hadn't been moved since power-up. I'm going to go through logs to see if I can find anything odd but these are a few slightly odd behaviours that I've noticed.
I have a short question on stick and gyro zero position calibration:
I understand the roll/pitch/yaw receiver signals are sampled sometime during initialization (or is it after arming) and used as the zero point during flight. Is that true? If so, when is it done?
Likewise, I know the gyros are sampled to provide a zero reference at some point in time. When does that happen? Is it during arming?
I had a minor mishap where the quad flipped forward (very gently...) on takeoff. I have a feeling that this has to do maybe with moving at the time the gyros were calibrated, or maybe something with the receiver calibration.
Dror
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