ACRO bug (fixed in 2.9.1b): while doing flips in ACRO mode, if you switch to Stabilize while inverted your throttle will go to minimum. To regain throttle control you need to switch back to ACRO then back to Stabilize again (i.e. switch to stabilize twice). You never lose control of roll/pitch/yaw.
Loiter/AltHold/Auto/RTL bug: if you switch into these modes with throttle at zero motors will go to minimum until you raise the throttle.
Auto mode altitude bug (fixed in 2.9.1b): setting a waypoint altitude greater than 320m over home altitude may wrap around and instead be interpreted as a low altitude.
ArduCopter 2.9 is now in the mission planner and the downloads area!
The major improvement is we use inertial navigation to improve altitude hold. This increased reliance on the accelerometers means you must do some additional set-up before flying:
3. If upgrading from 2.8.1, modify the throttle and altitude PID values:
Here is the list of major changes (a more detailed list can be found in the release notes):
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.
Special thanks to our testing team lead Marco and the dedicated bunch on the 2.8.1 release thread who put their copters at risk while testing the pre-release version. Some of their videos are here: 1 2 3 4 5 6 7 8
Please feel free to report issues you find in the discussion below and/or add them to the issues list.
I can build and upload 2.9-rc5 no problem. However, when I then try to load the released 2.9 via mission planner, the radio calibration does not work in that it will not refresh values from the transmitter. Going back to the rc5 build works fine again. I have tried various permutations of erasing and resetting from the CLI but no luck. Is there something here I am missing?
Great Video, great 2.9, :-)))
lots of thanks to all who made this happen!!!
Let’s go flying, can’t, mad Southerly blowing :-(
Thanks for the new version, will test it just as soon as the snow passes...
got a couple question:
is this release is the same with RC5 ?
with this accel graph, i should keep my INS_MPU6K_FILTER to 0 right ?
fly tested with my tri, stock pids, except for rate_roll.. alt-hold was very nice.
i personally like to land with alt-hold, just lower the throttle and it will gently descend. once it hit the ground, close the throttle and switch back to stabilize..
any idea how to tune throttle accel P and I ? if is it too high or low ?
Thanks! Just once.
Stefano: I may have missed something but I didn't know the CLI could be used over wireless. Has that been added while I wasn't paying attention? (very possible ;-))
dudz: you've probably got a problem with your sonar sensor. Disable it and try again.
Yes Chris, now is possible, but also with the release 2.8... :-)
There's some good security for skip the CLI via wireless if the motors are armed or the quad is in flight.
You can enter the CLI via radio only in the first 20 seconds when you connect the main LiPo.