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!
Replies
Bonsoir a tous
malgrès ce message:( ac2 2.0.37 + est requis.") ????? lors de la configaration de niveau
j'ai testé un peu cette après-midi :2.8 avec PID original
juste stabilize et loiter avec un vent de +/-30 kms/h
vraiment excellent !!!bien que le vent nécessite du pilotage (je n'aurai pas mis un helico dehors aujourd'hui !)
pour éviter ce message: ac2 2.0.37 + est requis."j'ai laisser pendant 20s les stick en bas et à gauche
bravo l'équipe juste j'aimerai connaitre la signification;' ac2 2.0.37 + est requis."
cordialement daniel
Took it out briefly just now - a bit windy out, but it did pretty well.
Re-entered my previous settings except for the I-terms went to Rate instead of Stab.
Feels more responsive in general without being twitchy. Not sure if it is some change in the code or if something upset my sensor, but I had to turn off the Sonar - with it on, I was getting crazy altitude drops in Loiter. With it off, no problem. This was hovering at about 20 feet up, so probably in that zone of crossover between sonar and Baro. But I have pretty much given up on sonar anyway - it is not particularly useful when it works anyway.
Hopefully, we will get a still day soon so I can really get out and fly it and see what happens.
Hi!
I think this version is a major step in Arducopter history, because (in my opinion) it's the first time a open source project has a working mpu dmp integration. After the obligatory eeprom clear of my apm2.0 i compiled (with ard. 1.0.1) your 2.8.0 FW with the following parameters and loaded it up:
[CODE]
APM_Config.h
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
#define DMP_ENABLED ENABLED
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME
[/CODE]
In Terminal: cleared logs and loaded defaults. Terminal worked like always.
Hardware: APM2.0 (extra BEC 5,4V), Minimosd, 5,8GHZ VTX, FRsky D4FR (sumsignal, higher channels used to low extend), DJI 450 Frame (quadcoter), 4xSkywalker 20 A ESC (@490 Hz PWM), 4xRobbe Roxxy 2827-26 (930KV),4x APC SF 10/4.7(balanced), 3SLipo 3300mAh, Total: ca 1,2Kg
Not tested: GPS, because mag not calibrated yet and no time (it got dark)
Tested: Acro, Stabilize, Althold
Result:
Acro: With lowered rate_P 0.120 (like i had to with 2.7.3) and an increased rate_I to 0.100 I finally have a very good Acromode. Normally i fly multiwii for Acro, but moving the "I" authority to the rate controller worked wonders!! Now the apm acromode is how i like it!! Very good!!
Stabilize: No need to change values, flies perfect.
Baro/Althold: Worked good on stockvalues with 2.7.3 and my setup. With 2.8.0 on stockvalues it was not so good (didn't tune) but worked ok.
All modes: No Yaw-Jump anymore - Very nice, but wasn't a big issue with 2.7.3 for me. No glitches or strange flightbehaviour. No wobbles in fast descent. Heading hold worked very good as well.
After all i had a very pleasant and relaxed flight time. Thank you very much for your coding and developing efforts. I would like to know how much cpu power is now free due to the dmp usage.
I noticed one strange value in MP (attached as screenshot). With calibrated acc and the copter standing level next to me the "vertical speed" showed a value of 53.02 ?? Is that normal? EDIT: I am stupid, it is normal, because it is the YAW value........... sorry for missing braincell...
So long
Kraut Rob
280VertSpeed.jpg
Just tried leveling on 2.8 through the MP on my spare apm1 (sitting on the bench with no GPS or magnetometer) and it displays the same behavior - leveling fails. The CLI level seems to work fine. It looks like some kind of interaction between the MP and 2.8. The light pattern on the APM looks like it is rebooting in the middle of the level operation. I'm loading 2.7.3 to compare the light behavior when leveling to compare.
so many thanks to the team !
works fine and stable.
Christoph Laib
I just wanted to say what we've had here is a great example of the Open Source ethos. Leonard Hall only joined the dev group just a few weeks ago, and has already stepped up and made a significant contribution to the program. It's a great example of how anybody who has the skills can jump in, be accepted, and make a difference.
I'm very excited about this release as the changes that have happened to the attitude controller have really made the system much more fun to fly. It resulted in me "flying the wings off it", litterally. ;)
It also gives us a basis that I'm hoping I can build on to get the helicopter acro mode working better.
For people who experience flips on take-off, please try:
a) reduce your Roll and Pitch Rate P terms from the default 0.175 .. maybe try 0.155.
b) reduce your Roll and Pitch IMAX terms from the default 5 to 3
If this happens to you, we'd very much like to see your dataflash logs and/or tlogs to understand the cause better and figure out a way to avoid it.
I've two Crash at 2.8
first qaid fliped during takeoff - without any lost
then i decrease angular rate p to 0.09 and THR_MAX to 800, checked takeoff - ok
and next fly i try hold it in stabilize & simple mode @ altitude 2m after 10sec hovering quaid make flip. lost 2 props.
its new no tested before frame and maybe some hardware problem
my HW
morors hextronic dt75
esc hk 30a ubec
frame 550
props gefman 12*4,5
BIG thank you, Development team & testers have done a great job as usual. I have uploaded to APM 2.5 no problems and will upload to APM 2 later and try and get some testing done tomorrow as weather man says its no raining :-)
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