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.
Yes, high vibration, check your setup and props.
Looks like a tuning issues. Do you have an over powered copter? What tuning have you done? Do you have logs with INAV turned on?
I can only help you if you use the RAW log.
What material are you suggesting to use between the motor and motor mount?
Hi, I was wondering where you got the arms for that frame? It looks like the same frame I got from HK but mine came with red and black ALU arms, I bought some 14mm CF tube from hK but it doesn't look or feel like CF to me, no pattern on it, its solid black. Just wondering where you got yours?
yours looks so much better with te CF pattern on it.
Great link - thanks for sharing...
Got my weekend project.
I am glad it worked out for you! Is it still leveling out at high speed?
Marc, I agree with most everything you said. Except for the dampened motor mounts part..
Think of it like this. Do you want to try and isolate motor vibrations from the frame, or do you want to prevent vibrations from occurring in the first place? In my opinion, the whole point of an expensive rigid frame is to have a solid platform that prevents the motor from vibrating. The frame is there to "tie down" the motor. And then you dampen the autopilot from the frame with gel pads to isolate it from the leftover vibrations that the frame isn't able to suppress. With nicely balanced motors and propellers this results in a close to vibration free system. On the other hand, if you have soft motor mounts. Even the tiniest imbalance in motor/propeller or external forces like wind during flight, will lead to huge oscillations since there is nothing fighting the vibration. The same as if you have flexible arms on the copter. And all that energy has to go somewhere eventually, and the only place it can go is back into the frame (or be converted to heat, but then we are getting very technical). In worst case all the strain from such vibrations might even make the propeller drop a blade during flight. At least this is how I see it, from my experience.
Just a feedback Randy.
You nailed it.
Today I had more time and started to extract parameters from tlog of my berserk mode.
Guess what I found.
Rate_p at 1,4999 instead 0,1499
Problem was sitting behind the TX
Thank you mate.