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.
Thank you, leonardthall, for pointing this out to me as this what cured the rapid jerky motion that my copter was making in Loiter and Altitude Hold modes.
I tuned the THR_ACCEL_P and THR_ACCEL_I terms by adjusting them to Randy's instructions above and the rapid bouncing immediately went away.
Yay! I guess the perseverance paid off. I can sleep well tonight...
I like thank you all who replied to my posts and helped me finally get rid off the rapid bouncing while in Loiter and Altitude modes.
I am an ArduCopter rookie. I got started with an AR Drone 2.0 and then added my own PCB version of the "mirumod" to give it standard Rx/Tx controls.
Now I am on my first DIY "kit" build.
I have an RCT clone 2.5, RCT Hex 550 DJI clone, RCT HP2212-1000KV motors, RCT 10x4.5 CF props, RCT SK-30 ESCs and RCT UBEC - and a 2.5 APM side-entry case from 3DR. I use 5000 mah 3S batteries. The battery is mounted on the lower plate. FrSky D8R-XP and Turnigy 9X.
I mounted the APM with APM side entry case dead-center on my frame top plate using 3M double-stick foam tape (it is about 1.5 mm thick). The foam tape was cut in the outline of the case (not just pads on the corners).
Balanced props with DuBro (they were close when I got them) and balanced the motors (they required more work) using both iPhone Vibration app and laser+mirror technique.
Loaded 2.9 rc2 and tinkered a bit. Loaded the release 2.9 for my first hover testing with RAW enabled for logs.
Long story short - my accel x,y, z graphs from RAW are better than the "good" example in this thread.
I plan to leave the APM mounted as is until I hear strong motivation to do differently (remember rookie talking here).
I have the F450 Frame with APM 2.5 and arducopter 2.9. I have problem with the ALTHold, because after 10-20sec the quad fall more and more and after 1-2min it´s so low that land. I have the default settings. It´s a problem from 2.9 or i had to make PID settings better ? Have anyone the same Frame or a similar, if so please send me the PID´s.
I'm sorry for your crash, can you download the flash log and upload here please?
During this anomaly the throttle stick work or not?
Which Spektrum RC were using using (Tx/Rx)? That will help us debug...
Marco,what program do i have tu use to read those parameters?or to upload them....?
O forgotten here is my Log File. Maybe it helps