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: DuBro, gel, hk 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.
Replies
I tested the new release at home and it worked like a charm. The altitude hold also worked great, I tested it just a little at home.
However, when I brought my Y6 to stadium to fly, the calibration got wrong, I do not know why.
Does the calibration was lost for any reason? I am learning how to do auto trim.
Thanks,
Duy
I have just flown my new H frame quad with 2.9. Not bad with stock PIDs but I have one big yaw problem.
I have mounted the front and rear arms on flexible mounts to reduce vibration but there is a yaw coupling that I didn’t expect.
I will try to explain.
If I want to yaw left, the front left motor(3) and the rear right motor(4) (both clockwise) will speed up, giving more lift, while the remaining two slow down.
Unfortunately, (with my extra flexible arm mounts) this makes the front bar tilt right and the rear bar tilt left so the lift vector produces a yaw opposite to the demanded one. Yaw is very poor, sometimes opposite!
I will try stiffer mounts BUT it begs the question, is there any reason for the current rotation convention?
My frame is intentionally very flexible but surely all will flex to some extent and suffer from adverse yaw. Is there any reason why all motors could not be reversed (with appropriate changes) so that any flex helps in the correct direction.
What about an option for opposite rotation? What do you think? Would it solve the problem?
How's this look for vibration? Spike at the end is landing of course.
Also, nice job with the sonar.
But.... Does it look to you like Sonar and Baro are separating over time?
Norman, I like that you have your motors under the arms (at least it appears that way). That's eight less "impacts" on the frame per revolution!
hey guys I am sure some of you checked this out already but for anyone with bad vibration try to do this.... help A LOT!
then if you also apply foam or moon gel it will really be perfect!
application used is http://www.iseismometer.com/
Many thanks and congratulations to the devel. team for this soft version.
The altitude hold is now a dream but ..position hold shows a very strange behavior while it was almost perfect with V.2.8.1 ??
The quad will go wild in one direction and do not stabilise ,I have to change mode to avoid the crash. The GPS is a U-blox NEO-M.
Is there any solution to correct this problem
TKS
Got vibes? ZAcc in a twist? get a free sample pack from Tempur the memory foam soft stuff
http://www.tempurpedic.com/our-company/information-kit.asp
Ill test my sample vs my current log data this weekend as I got a pack a couple of years ago.... haven't bothered using until now
I tested yesterday with the new 2.9 version on my big octa 98cm M->M,motor 3536 750kv, 4S 5A, prop 13x4, APM 1.4, gps mtk 1.9, with the default param. The fly mode stabilise, alt hold, and loiter was good without any problem, loiter within 1,2m, except sonar does not work with alt hold.
I tryed to use with Ublox gps, but I got to desactivate AHRS_GPS_gain to 0, otherwise a lot of movement on the artificial horizon with MP, despite the octa was desactivated.
Anybody has tested with the option Enable inertial_nav XY ? I do not activate yet this, just only on the Z axis.
Thank to all the developement team for the hard work.
Help Team, Ok My 1st log or my Z data, I have my APM 2.5 mounted to triple layer of double sided sticker rubber its one solid piece, my frame is a DJI 450 spinning 980kv SSky's, this was logged while Im still tweaking my PID's in gusty windy weather
Do I have too much vibes going on?
I experienced motor stopping momentarily after switching to loiter.
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