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
Although I will use it for the final video of the 2.9 release i share this flight a few days ago (with RC1), where it is well visibile as the inertial works perfectly if it is done a good tuning and if the quad does not have unwanted vibration (with balanced propellers and motors).
Note also the agility of the quad during stabilized flight.
You can always do better, but I believe we have arrived at the huge levels.
Bests, Marco
Today I make a test flight with 2.9rc2 (Revision: f16e9df29322 ).
The flight took place without any changes on 2.9rc2 (Revision: f16e9df29322 ).
Auto Grand is perfect that is first speed decent to 4m high and very steady decent until land.
Anyway, my quad decent straight down without any trouble.
Loiter is still have some move that is also around 4m square or so.
Second attempt of Auto Grand makes some move in the side way, but total decent action is also nice.
Thank you Randy:-)
Having some very erratic behaviour with 2.9rc1 using the default PID's I reverted my hexa to 2.8.1 and retuned (as I had not kept the parameters it last flew well on, Dooohhh)
HyperHex final 2.8.1.param
Any ETA when 2.9 will be in MP?
in 2.9 rc1
Yaw stick to full left dont start leveling procedure for "in field" level tuning
it was very comfortable
Stay tuned and... Happy New Year! :-)
Marco
I am struggling with the 2.9r1 and also r2 for the last days.
I have a H-Quad with an APM2.5 and have huge problems with the alt hold. When I siwtch to alt hold, it starts oszilating and jumping and wobbling. No matter what PID values I change I never get a good alt hold.
Yesterday I enabled the sonar by adding the two defines to the config, but sonar seems not to be used.
After many tries, I wanted to see, if something is wrong with my hardware and so I installed 2.6. Then alt hold worked fine. Sonar was working too. I could park the copter in 2m hight, walk under it and it was pushed up by the sonar.
Only downside of the switch to the 2.6 was that it costs me 2 props, when I switched to RTL. The copter did not climb and come home. He dropped down to the ground and bounced of to flip over to the back.
The strange thing ist, that I have a Y6 copter with APM2 and there the 2.9 works really fine. There I go with all PIDs at default values and it works greate except some small oszilations, that could be eliminated with PID tuning.
My H-Quad is not as rigid as the y6. Maybe that could cause the problems, but when I fly it in stabilize it flies really well. No wobbling but very stable.
Im uploading some videos showing the problems. When uploads are ready, I could post the links.
ArduCopter 2.9-rc2 (release candidate #2) is now in the downloads area.
Improvements over 2.9-rc1:
1) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
2) increased throttle rate gains from 1.0 to 6.0, alt hold gains from 1.0 to 2.0
You can also see the full list of improvements over 2.8.1 in the description that appears in the downloads area or you can checkout the ReleaseNotes.txt in the actual zip itself.
i try indoor test for 2.9 rc1
my gps module get lock but hdop is high and position changes quickly
in this firmware ahrs_gps_gain =1
this bad for indor fly
Randy
I have a problem about GPS Module MTEK 3329. When i'll test loiter is sometime gps is not update position and drone move slide very far (Update GPS Firmware 1.9). pls check is problem.
Thank you , Balloon
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