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
Is the .zip file all I need for Mission Planner to upload version 2.8.1?
Or do I need to go in and compile it or something?
Please tell me how to set the RTL. Or at least tell me where are the parameters RTL_ALT, RTL_LOIT_TIME, RTL_ALT_FINAL. The first option I found, but others do not see at close range. Mission Planner 1.2.27.
Hi. Who has all of the original 3d robotics and quadrocopter. Who is stable flies lay pozhalustay file param, and that I can not adjust the quadrocopter especially pids.
Ok, 2.9 is out in the mission planner and in the downloads area. It's exactly the same code as release candidate #5.
So please join me on the 2.9 release thread!
I noticed that Arducopter v2.9-dev tri was available in the new version of the Mission Planner, so I attempted to upload it to the APM 2.5. After installing to the board, I went to the Terminal to verify if the new v2.9 firmware was indeed installed; however, the terminal still displayed Arducopter 2.8.1.
v2.9 firmware should be displayed instead of the v2.8.1 in the terminal, correct?
MAnaged to run out today just before the fog bank settled over us and flew an auto mission with 2.9 RC5. VERY happy. Unfortunately, no camera was handy, but overall it just looked sharper and more crisp in flight and it really nailed the waypoints.
Very happy with latest RC. So far, no issues at all.
As this topic is scanned by so many experts at the moment, perhaps I can ask a slightly off topic question.
How important is it for the APM to be near the centre of gravity?
Im working on a ‘H’ frame quad and it would be convenient to put the APM at one of the frame ends. Would this cause the accelerometers to sense pitching as vertical movement?
Im trying to get away with everything on one layer but the batteries will occupy most of the mid section.
Thanks.
Vince
Today noon I was out to test my Y6 with APM2 and 2.9rc5. Could not do that much, because it was very windy and very cold. After half a battery I finished, because could not move my fingers any more.
The short test showed me some issues. First of all, sonar did strange things. I put it on channel 7. Then switched it on during alt hold and the copter climbed up quickly.
When sonar was on, alt hold was somehow strange.
Then I tried loiter, but that did not do that well. As I wrote, wind was strong and gusty. Once in loiter at about 2m, the copter decided to dive into the ground, but I could avoid that by quickly switching to stabilize and take over control.
Maybe the wind was far to strong for flying my copter, but when I am able to hold it in stabilize, the FC could be able to do so in the automatic modes.
So I think I have to change some of my settings. I think I put rate P and throttle_acc P a little to high, as I tuned it when there was no wind. So when there is much wind, the copter does a little bit of overreacting, I think.
I downloaded the logs and when I take a look at the alt values, it doesn't show what I was flying.
I was never higher then appr. 10m. Even the GPS Data looks strange, because I never was there where it is deisplayed, when I load it to google earth. The starting and landing points are o.k., but some lines are far away from where the copter really was.
I attached the log file. Maybe someone can read something in it.
2013-01-16 20-15 1.zip
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