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'm new to this, just so I don't end up somewhere I don't want to be in the CLI, where exactly is the option to "enabling the "RAW" message through the cli"?
Mike, in the Terminal tab (CLI), once connected and you see "Arducopter v2.9]", then type "logs", hit enter then type "enable raw" and hit enter.
Cheers for that.
I've not yet upgraded to 2.9 yet, I was giving it a few days to see what I read in this thread first. However, I thought I might check the vibration levels to see if I have any work to do before I go through with the upgrade/ Currently my APM1 is supported on soft rubber grommets and I have bought some of that Gel sheet should I need to improve things.
Unless you have noticeable vibrations I would just balance my props, fly first and worry later. I put foam under my APM mounts and it made no difference.
I agree, but I think oscillations in lift caused by a spinning propeller moving horizontally will always create problems even with perfect balancing. This high frequency (~2x Motor RPM) source of vibration is I think one of the primary reasons thin ACC lines are fairly easy at achieve at hover, but difficult to sustain beyond 25mph. There are some applications worthy of the broad performance envelope that foam and weight currently provides.
OT but related... IMHO APM3 should have a separated IMU board, mounted in a small foam sandwich, with a minimum number of very thin wires connecting it to the main board (essentially like Naza). If properly engineered (designed mass & material), it would make a big difference for a lot of ppl. Then hard mounting would work good on nearly all applications (again, like Naza).
ForIn English language parts of speech →
What is ArdyFlyer? ;-)
Thanks, and yes the metal plate is fixed to the case (1 layer black 3M outdoor 2 sided tape, complete coverage... pretty much like it's glued on). I figured after shaking the heck out of the frame with my hands and watching the case follow movements with good fidelity, I was fine as far as inertial response goes. On a CP heli though I'm not so sure, but the setup works fine for slower responding quads.
Although to be honest, I did have doubts about level going out of wack after a good jostle at landing or during transportation. So far I haven't noticed any ill effects from my mounting, but if I do I'll report on them here.
Here are my current params Leonard. I think you wrote the post that gave me the idea to play with higher I and Imax. I have gone back and forth and it seems the higher values removed some minor high speed pitch oscillations I was having. ;)
I'll take all the luck I can get with this multi-rotor stuff. I am not sure if it applies to CP helis, but I commented on my high speed pitch oscillations below.
This individual expands on the same video with some additional tips, great stuff!