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.
Kieran: I can't replicate any problem on any of the copters I've set up with this build. What APM board are you using?
There is an know unresolved issue to be able to play Vimeo videos in Windows/IE10. Is there a way you could publish your videos on Youtube or some other universally accessible video streaming service ?
Great job guys!! I have been flying 2.9 today and everything seems very good. thank you very much to everybody that helped.
I do have one question, I have been reading through the new parameters, and one I cant seem to find is WP_LOITER_RAD, I have looked to try to find what its renamed to but cant seem to find it. Is it still there?
2.9 is great.... everything I tested works well..
How come in Loiter my copter looks like its having a wank up there.....
It seem like every time a gps pos comes in it Jimmies around +-4 deg and does not go anywhere... like 1/sec or 2..
Its staying in the right spot no problem, but whats with all the wanking.... this started like around 2.5 and I keep
hopeing it would go away...
oh... and as handcock says... "Good Job"
Are you using an official 3DR APM 2.5? (Some of the clones aren't detected correctly). If so, try reloading the code.
Already need help with the new firmware 2.9...
Don't know exactly what happened, but when my copter is on a level surface, the artificial horizon is not level and is leaning to the right; so when I take off, the copter immediately rolls or leans right.
How do I reset the APM2.5 board to level again?
I attempted to use the Arducopter level in the Mission Planner and followed the instructions to calibrate the accelerometer; but when I go to the flight data screen, the artificial horizon is still leaning to the right.
My quad survived all the upgrades from 2.1 to 2.8.1.
But no luck with 2.9. Loiter worked but quad was very busy making constantly small corrections. Alt Hold seemed to work fine but then the rear two motors dipped slowly and the quad crashed. Two broken arms and 1 prop...
Log Download button in planner just responds with "Error opening comport"
if no change in 2.9 try to maintain full throttle down full rudder left for 10 15" to recalibrate or preflight calibration in pickup list in flight data -> action panel - do action ...
Had to dump the log from the CLI and copy/paste into a txt file. Hope the format is digestible (and that it is the correct log). Thanks to anyone having a look a the log.