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.
Loaded up 2.9.1 this am.
Just found that snazzy "Raw Sensor View" screen. Mesmerizing. Mmmmmmm.
Alt_Hold seemed spot on yesterday using Baro only. And I love Sonar Terrain Following, but the transition between the two is a little disconcerting.
As I sit here reflecting on yesterdays flying (and playing back the logs)..... Maybe my spastic loiter is the GPS, and the quad always trying to hold a GPS position that is all over the place. I've not whipped out the soldering iron and updated the GPS, maybe I'll have to do that if I want Loiter to settle down. (Still running default APM 2.0).
What exactly is the new ESC calibration procedure for 2.9.1?
Ok, a bit high but perhaps not big enough to cause serious problems.
I guess we will see once 2.9.2 and inertial nav comes whether you see a serious toilet-bowl effect when travelling at high speed in loiter mode.
The procedure hasn't changed so the existing wiki instructions should still apply. It's just that it now works for SimonK firmware which apparently relied on the update rate from the APM->ESC being reduced from the regular 490hz down to 50hz (just for the time you're calibrating them).
With the mediatek you should reduce your loiter rate P to 2.4 and it will settle down a lot. Of course you should also try to update your mediatek's firmware to 1.9. I did that on my APM2.0 board and it performed much better. Craig E did some side-by-side tests and showed a vast improvement with the new firmware.
Thanks Randy, I thought so but I just wondered why "Boston UAV" said "Goodbye manual calibrations"...
In general you just need to give the algorithm 6 points and they should be quite far apart from each other.
I recall that the accelerometers can't be moving when the calibration points are taken which is why holding it by hand is not recommended.
Is the Px4 the next board or will there be a APM 3,thank you,Marty
Man, you guys are killing me. New release, finished the new quad, AndroPilot is looking great, we have the first sunny dry day in weeks and.... I am stuck in a class all day.
I'd like to second the inquiry about an APM 3. Is there one planned and how might it be different from the APM 2.5? Are we running out of computing power with the AtMega 2560?