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:

1. Perform the new accelerometer calibration in the mission planner (video).  The auto-trim metho has also changed (video).

2. Add vibration dampening foam between your frame and the APM.  Some suggested materials: DuBrogelhk foam.

 3. If upgrading from 2.8.1, modify the throttle and altitude PID values:

  • Increase your Throttle Rate P, reduce I to zero, increase D
  • Increase Altitude Hold P, reduce I to zero
  • Tune Throttle Accel P and I terms but try to keep P about 1/2 the size of I

 

Here is the list of major changes (a more detailed list can be found in the release notes):  

  • Alt hold using inertial navigation (Leonard, Randy, Jonathan)
    • AUTO_VELZ_MIN, AUTO_VELZ_MAX parameters control the max climb/descent rate for the autopilot (cm/s)
    • PILOT_VELZ_MAX controls max climb/descent rate for the pilot (in cm/s)
  • Landing improvements (Leonard/Randy).  Copter will descend to 10m or until an object is sensed with the sonar.  Then slows to 50cm/s descent (speed can be adjusted with LAND_SPEED parameter). (video).
  • Surface tracking with sonar (Randy/Leonard).  Copter will attempt to maintain current distance from objects in front of sonar regardless of altitude.  Only used in alt-hold and loiter, not used for missions.  Sonar can be enabled/disabled with CH7 switch. (video)
  • Failsafe improvements (Randy/Craig/John Arne Birkeland) including bug fixes, additional check for PPM encoder failure and implementation of battery failsafe.  Set-up instructions are here.
  • Mediatek gps driver accuracy improvements and use of SBAS [Craig].  Instructions on upgrading your mediatek to firmware 1.9 are here.
  • Traditional Heli improvements (Rob) including (a) bringing heli code back into the fold, (b) enabled rate controller (previously only used angle controllers). (c) fix to rotor speed controllers - now operates by switching off channel 8.  (d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode  (e) bug fix to allow collective pitch to use the entire range of servos
  • Acro trainer (Leonard). Copter will return to be generally upright if you release the sticks in acro mode.
    • ACRO_TRAINER : set to 1 to enable the auto-bring-upright feature
    • ACRO_BAL_ROLL, ACRO_BAL_PITCH : controls rate at which roll returns to level
  • Camera control improvements (Randy/Sandro Benigno):  (a) AP_Relay enabled for APM2  (b) Trigger camera with CH7 or DO_DIGICAM_CONTROL command  (c) Allow pilot override of yaw during missions and fixed CONDITIONAL_YAW command.
  • PPM sum support for transmitters with as few as 5 channels (Randy/Tridge/John Arne Birkeland).
  • Performance and memory useage improvements (Tridge).

 

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.

 

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How do you balance a brushless motor? Do you have to take it apart? As soon as bearings begin to wear they will cause a vibration. You should always isolate your electronics. If you throw a bearing or something becomes unbalanced in flight you're screwed if you don't.

You just need to go to page 48 to find out how to balance your motors :)

XAircraft are those of very resistant plastic I have a year and a half using this frame with 8x settings and excellent result, the 8x are Draganfly carbon and plastic motor bases.

http://www.draganfly.com/uav-helicopter/draganflyer-x8/index.php

where can i find 2.9 stock settings?

i tried reloading firmware but it keeps my old settings...

thank you for all your hard work ...i will spread the word so everyone i know has this great oppertunity.

There are many engines from 20 dollars to 60 coming well balanced for example the used by me are those of the xaircraft, are the dji and others with more torque for larger accessories. 

cli>setup>reset

In the mission planner, after loading,
right side, terminal, wait, help, setup, erase, reset, and ready.
then set the level of the accelerometers http://vimeo.com/56224615 ,  and radio, etc....

http://code.google.com/p/arducopter/wiki/AC2_First

Im sory ive been trying to find the reset everywhere all over mission planner and i do not see wheremit is.. I hit every option including load firmware..

Please elaborate
How do i reset everything to default settings
Im updating mission planner now... Now have 1.2.32 mav1.0
So where now?

Had the same thing happen today.  Alt hold was great.. but when I put it on Loiter it would hang on for a second, and then race off in one direction or another... needing to be corralled back under normal control.

Figured it out...
You must type in each command at the prompt....
There is no button....lol

Thanks guys for such quick help

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