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.
Has anybody tried to compile the 2.9.1 code from repository and find a problem with a call from GCS_Mavlink? Something about MPU6000. 2.9 compiled fine. I am just new to this Arduino stuff...sorry for the interruption.
Arduino does not always switch directories as expected.
I always have to get my old working directory out of the way, change preferences in Arduino to the new directory, then restart Arduino, to make sure it switches to the new one.
Even then, check carefully.
Are you suggesting Arduino is "idiosyncratic"? :) I am used to pro SW dev tools and that is the politest word I can think of, even if it's a free item. Anyway, I'm pretty sure I cleaned stuff up, I'm used to dealing with MUCH worse, because I had to do that to go back and check out if 2.9 still compiled OK after the 2.9.1 failed, and 2.9 did. I was a bit suspicious because the 2.9.1 GCS_Mavlink library was apparently a tad smaller than the 2.9 one, and it was a call to it that was failing (something accidentally erased?)...so I asked. I did not touch any of the 2.9.1 files, just used what was in the zip.
Tomorrow I'll try again then, I hear there might be a football game on... Thanks for the reply.
I decided to upgrade my QuadX to 2.9.1, APM2.0, but I am not able to fly it, since I can not have a controlled airborn.
I did attach the last log fly with a test to fly on my backyard, not able to takeoff, the copter is very unstable.
I did check the latest PID config as highlited by you on red rectangles, I did recalibrate the accelerometers as in video (level, left, right, up, down, back), I did recalibrate the ESC one by one, I did check the "motors" setup in CLI and each start on proper direction and order, I did rebind also the RX-TX.
I do have a foam under the APM2.0 (in case) and I did check on Log the Accel_Z and it looks good for me, between -5 and -15, see below.
My TX is a dx6i. For 2.9.1, I noticed there is a "Save Trim" with CH7 and "Auto Trim" during the flight.
But I do not have a spare channel for Save Trim CH7 and Auto trim is not possible since I can not takeoff and hover. Somehow the HUD is not horizontal.
I did check if I have Error on my log, not errors, I did check spikes from TX/RX, not spikes.
I put in my declination values manully...like I've always done.
Is that sufficient...or does the auto method do something extra?
I had the same question a while back.
The key to having the MP display the modes is to first get a 3D GPS fix.
I guess Arduplane is different.
Compiles here ok...
The commands are riddled with <little problems> some problems come and go with different releases.
It's hard to keep up to date with what works and what don't:
WP will execute(of course), Height will be attempted until reaching capture radius, Yaw angle not working (might work if gimbal is activated)
Loiter_turns works! It's hard coded at a fixed radius of 3m, and fixed revolution of 5 deg per sec.
Yes it is a bit hap hazard, seems to start slow then speed up towards end of circle, even in no wind, not sure why that is! I would say that the 3m radius is beyond the edge of GPS resolution.
All delays will fully execute.
Take off is fully functional.
Relay code can't work by default, MCU pin37 not connected.
Camera trigger working on v2.9X
5 deg/sec for loiter turns! That may explain it, that’s over a minute per turn. It was also very windy, poor quad.
3 mts is a bit small for filming from 50mts up. Do you know where it is in the code?
I thought do-yaw worked last time I tried. At least it pointed to that compass bearing but then flew the rest of the flight sideways as I dont think you can cancel the new heading.
Haven’t tried take off or any camera mount instructions.
Would really like a ‘delay until height’ to make sure I don’t go smashing through trees.
Line 317 in commands_logic.pde
Looks like it has changed a bit since I played with it last!
The defines for ToDeg(x), ToRad(x) etc are found in defines.h
Here is a proving flight I did last year. http://www.youtube.com/watch?v=JDKP0zej7Xw&feature=youtu.be
<Would really like a ‘delay until height’ to make sure I don’t go smashing through trees.>
A temporary work-a-round is to set next ordinary waypoint at required alt, with a delay, say 30, or 60 secs. The delay WILL execute which stops the code loading next wp, so the quad will loiter and climb at the wp until the delay times out.