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 need help getting the raw AccelZ graph. I have enabled Raw, then went flying. then went to terminal, then log browse. there are no files there. what am I doing wrong?
Log browse, browses logs after you have downloaded them from the quad.
I think next to browse is the download button.
It's quirky, complains about the com port, just keep trying, it'll eventually work.
Bill, when I hit "log download" I get an "Error opening comport" every time. I've tried 20-30 times with no change. what am I doing wrong? it will show a logs window, but there's nothing in it. Does it make sense that when entering the terminal mode the connections shows as disconnected?
Mines the same. I just click on things until it works. Generally, the connect button in the upper right, then back to the terminal, and real quick before the terminal starts, hit the download button again. Sometimes I have to go back to the flight data screen and reconnect, then go to the terminal and real fast go to the download button.
It's a real pain in the "A" and it's the one thing I've found that doesn't really work right in the MP. But once you get it, and know it does eventually work, then what ever subconscious process provides the magic, gets better at getting it to work.
More specifically, this works every time for me:
Click "Disconnect" if you are connected, and ensure the correct com port is selected. Then click "Flight Planner", then "Terminal", wait for the prompt to indicate CLI is connected, then hit Log Browse or Download.
My solution to this problem is to click the terminal button. I wait for the terminal to start up. Then I look at the connect/disconnect button. If it is disconnected then I press the terminal button again. This generally restarts the terminal and changes the disconnect to connect.
To make the download work I generally need to ensure that the terminal has started with the mission planner saying it is connected.
Then i download my logs.
hitting terminal again reconnects and I am downloading all my logs now. On to the next step :)
I dont think the motor or ESC was faulty as it was only jumpy and jittery when I flew in alt_hold, but I think because of the jitters the motor or ESC got cooked because I could smell that lovely burned electronic smell when it crashed...
ok, so I've downloaded the logs and went to flight data/telemetry logs/tlog>kml or graph/get graph. I then select "zacc" under Raw IMU. I get a graph of Zacc_Raw_IMU_1 rather than AccelZ. I don't see sonar alt, baro alt etc.
any idea what I'm doing wrong?
Sorry, I can't reply below, so I'm messing up the thread by jumping back to the top.
Anyways, fish around in all those numbers. Scroll down, a LOT. Look for rows marked RAW, and the AccelZ is in there. Highlight it and pick graph.