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.
I am pretty new to the "adrucode" have been using it since 2.7.3 (If I remember correctly) and had a heck of a time tuning loiter but finally got it perfect or darn close on 2.8.1, however since 2.9 I found on 2 different quads the defaults are pretty close. How I did it for 2.9.1, do an erase in terminal to set defaults, cal your radio, level and set modes and hardware options, etc..., then tune your RATE, and STAB (Pit and roll) and try things like that, then if you need, start adjusting your loiter term's.
I am still learning, I find what is best for me is get the rate and stab where I like it, then I will play with other settings one at a time by trying really high and low terms to learn what they do.
Leonard, couldn't you make Thr_mid track Thr_cruise automatically? Wouldn't that do the same thing?
Yes it was actually flying in a hover!
I've had trouble uploading if the usb cable has come loose. It displays some kind of nasty message. I guess that's not what's happened? Of course the com port selected at the top-right of the planner is also correct?
The other two cases I've seen of people have problems were:
1. I had left one of the jumpers in place - J2, J3 or J4 - i can't remember which. These jumpers are right beside the APM's inputs. I removed them and it worked fine afterwards.
2. some other eeprom related issue that was fixed by holding down the reset button for 30seconds. I'm really not sure about this solution because I've just tried it on one of my boards and it doesn't seem to do anything.
Looking good. At least the Z axis is amongst the best I've seen.
Thanks for the report. I imagine if you had tried with the lipo and usb you would have seen the same results as you did with just the lipo attached. Here are some thing you might want to try
Note that there is a display issue in the mission planner where the radio calibration screen is sometimes initially all grey but if you click the calibration button the green bars appear. This doesn't sound like your issue though at all.
Thanks, that is great news!
I've just tried the live calibration and it worked ok for me. Maybe you didn't rotate the APM around in all 3 dimensions enough? Try and point the front of the board in all 6 directions (n,s,e,w up and down).
By the way, normally we recommend that people just leave the compass calibration method to the default which is to learn while in flight. The reason is that the motors can have a significant impact on the compass readings and it's nearly impossible for you to recreate this by doing the calibration on your bench. So you can end up with very nice offsets without motor interference but once you fire up your motors they become inaccurate by 15deg or more. set the COMPASS_LEARN parameter to 1 to get it back to auto-learning.