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.
Thanks for looking into this, it's just a little MP inconvenience. I will flight test "42Hz" vs "0" lpf tomorrow :).
Marco, thanks for that, I was looking for Alt_Hold_RTL!
Randy, not an objective test, but I've flown with and without, and I think it "feels" better flying with GPS_Use = 1. It really only matters when doing high speed, banking and turning, dynamic flight.
As I said before, the problem with the HUD moving around when disarmed is a simple fix.
First of all thanks for that great Software.
It's a shame, I cannot test it right now. We have lots of snow and, what is the bigger problem, lots of wind.
So I use the timne to build a new Trikopter for my APM2.5.
When I read the release notes, I see a note that the RTL will not be enabled when throttle is 0.
Does this mean, that even the throttle failsafe will not work, when throttle is at 950 or something like that?
Marco, you should try it. It feels better in fast flight. It's really hard to describe. Just a little more accurate in turns. Maybe it's because I was pulling 2-3g turns in the heli.
Thank you for your efforts developers.
Hex now uploaded with the new 2.9 and GPS 1.9, look forward to testing when this snow settles in the UK.
Keep up the good work :-)
Good work dev team!
SBAS -- is HUGE win guys. Will start updating our stuff here.
Ok Robert, i try to enable it.
Yes Mui, see my parameters file at line #72: "LAND_SPEED,40".
So far seems stable - the only prob I have is under sonar, alt hold works fine the first time it engages, but then as the flight goes on it starts to rise in spurts and keeps going up. Sometimes if I disarm and rearm it settles down but then starts it after a minute or two. I have the log wit RAW, seems like vibration not a prob. The sonar is very reliable under 2.81.
I tried lowering Throttle Accel P and I and Alt hold P down - still about the same. Is some term winding up as it goes on?