Arducopter 2.8.1 is now in the mission planner and in the downloads area! Remember to do your MP configuration again after loading this code, since it erases your EEPROM and sets it to the new defaults. 

Note: Issues with APM1 user's level feature not working are now resolved.  If you installed 2.8 we highly recommend you upgrade to 2.8.1 as 430 extra bytes of RAM have been freed up which reduces the chance of memory corruption (although we haven't seen any cases of this on the APM2 at least) .

Note #2: this release has not gone out for Traditional Helicopters until they can be tested fully.  Flip and Toy mode have also not been fully tested.

Improvements over 2.7.3:

  • Improved ACRO mode (Leonard Hall)
  • Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
  • Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
  • Less bouncy Stabilize yaw control (Leonard)
  • OpticalFlow sensor support for APM2.5 (Randy)
  • DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
  • Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
  • Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
  • More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
  • GPS NMEA bug fix (Alexey Kozin)
  • Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)


Bug Fixes / Parameter changes:

  • fixed skipping of last waypoint (Jason)
  • resolved twitching when no GPS attached (Tridge)
  • fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
  • moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
  • TILT_COMPENSATION param tuned for TradHeli (Rob)

Code Cleanup:

  • HAL changes for platform portability (Pat Hickey)
  • Removed INSTANT_PWM (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.

Please note that on this release we've moved the Roll and Pitch I terms from the Stabilize controller to the Rate controller. There's some evidence that says this can lead to flips on take-off if you move the roll or pitch sticks around as you take-off so we recommend you leave these sticks in the middle until you're in the air.

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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Thanks for the support, Phil.  Like you I would like to get more involved with the community.  The Wiki does have an incredible wealth of information, outstanding graphics and pretty good descriptions.  Unfortunately, it's all over the place and no one really knows where it's all located.  Also what was (and still is) confusing to the newbie (me) is that many wiki articles don't tell the reader when the information applies only to the Arduplane or only to the Arducopter.  (Throttle FailSafe Action, for example).

I don't think that Luis made the error, it was already in the image that he copied.

True, but that the way open source goes.  We are all trying to move things forward and he has made that offer and that contribution and other people have the opportunity to correct and improve on it.  

Any help would be greatly appreciated :)

Amazing! Thanks- i will update tomorrow! thanks again to all the devel and test team- you do great work!

I got my quad back in the air after two weeks waiting for parts and a week of travel for work.  I upgraded to 2.8 when I arrived home from work tonight and reset the configuration.  I had about 10 minutes of light left to fly.  I flew stabilize, alt_hold and pos_hold modes in equal amounts of time.  Stabilize was better than it was in 2.7.3 and that was really good. There is much less prop noise too.  Alt_hold held well at 15 meters with the media tek GPS.  Pos_hold was a little twitchy and it held in about 2 meter accuracy.  I didn't get a chance to try the actions in which I crashed a while back.  Altitude loss when switching to alt_hold before GPS lock.  I want to wait until I'm flying on a softer and more wide open area before I attempt that..  Thanks to all the developers for another step forward.

I was able to get between rain showers today long enough to test out the alt hold/loiter altitude drop issue, and was unable to recreate it. Looks good.

do you mean auto trim Dave? Or level?

Yes, I would be interested. There are a lot of areas that I don't know enough about to contribute but there are some I would be happy to.


    Thanks for the report, i'll have a look at the dmp thing.

    The position where you see the spikes is suspiciously close to the points on the throttle curve used to linearize the pwm->thrust.  I'll look for a bug in that area.  Any further details you can give on the symptoms you're seeing would be greatly appreciated.  video etc..

Craig, are you in charge of the Wiki and are you soliciting help?  If so, contact me offline.

2.8.1 is now released in the mission planner and the .zip is in the downloads area.  The only change over 2.8 is we freed up 430 bytes of RAM (5% of the total 8k) mostly by moving various strings into the program space.  The dev team has performed dozens of hours of flying on 2.8 without any problems, especially on the APM2 but we still recommend you upgrade to 2.8.1 because of the additional security the 430bytes provides against memory corruption. 

Excellent news.

With this release hout of the way now, the dev team will be moving on to features for the next release.  Of course there will be some bug fixes here and there but also hopefully some major advances in throttle control and alt hold and Jason's got some improvements to the algorithm we use to control our approach to waypoints.

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