Arducopter 2.0.34 Preview

Hi All,

I just posted a new experimental version of Arducopter with new PIDs and control laws for Yaw. It's download only for now and I wouldn't recommend trying it unless you can rigorously test it. Please be careful. I've flown this in Stable, Simple, Acro, Loiter, and Alt Hold with no known issues. But you never know! This version is not yet compatible with the mission planner.

What's new:

New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition!

Before: -> After

Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)

Stabilize I –> Stabilize I (Stays same value)

Stabilize D –> Rate P (Stays same value)

–> Rate I (new)

I added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.

I added the framework for using DCM corrected Accelerometer rates. Code is commented out for now.

Added set home at Arming.

Crosstrack is now a full PID loop, rather than just a P gain for more control.
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions

Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.

Jason

Replies

mc_don July 16, 2011 at 4:08am

i have finish my hexa (upload from AMP) ver 35
arm : 28cm
motor 2830 850KV
prop:10x4.5

1st test the hexa is so agresif for rol and pitch (dafult PID)
just about 45% trotle hexa can fly.

2nd test i change roll and pitch P from 4.5 --> 2.5 and imax from 50 --> 10.
fly on 50% trotle. and not to agresif. but stil driff :(

please respon for what i do? i do not understand for Imax function. and how effect when we fly on big wind
Vincent Mees July 15, 2011 at 3:31pm

Just finished building a new frame 50cm with new 25A plush ESC's and new motors Roxxy 2824-34 and APC 10x4,7.

Loaded v35 and it flies very stable (really rock solid) with P lowered to 2. Still get some oscillation when I fast descend.

This was tested without wind.

With wind its a lot more unstable.

Alt hold is very aggresive. No sonar yet.
Matt Gaige July 14, 2011 at 9:22am

In my experience with .35 last night, I found Stable/Simple to be fine over .33, but Alt-Hold was too aggressive. Strong pumping. All were on def PID's. With RTL the quad quickly became unstable and I had to abort right-away. So I miss having .33.

Thanks to the team for their great work.
Jose Angel July 13, 2011 at 3:17pm

Understood, I flew today 2.0.35 but I didn't test alt_hold.
I'll give it a shot tomorrow!
Jose Angel July 13, 2011 at 2:48pm

I also observed that alt_hold is not as accurate as two weeks ago... but my first thought was that these days there is a lot of wind in my area....

Jason, any major change in alt_hold in last two/three versions?
Wayne Harton July 13, 2011 at 2:24pm

Hi Jason great work you are doing. I don't even have time to test a revision before there's another one to try. Everything has been working well on the default I couldn't believe how good alt hold was on 2.032-3 working really well on default pids. I was only testing at low altitude with the sonar but it was rock solid maybe 2" movement max even when travelling and going over objects the quad would just rise over the object and come back down the other side at the same height. Since loading 2.034-5 the alt hold has become very jerky with aggressive corrections and is up and down like a yo-yo. I have reduced the P value down to .2 and it has calmed it down a bit but it is still all over the place. Any ideas?
Developer

Adam Rivera July 13, 2011 at 2:23pm

I have to say, DiyDrones is the coolest community ever. Every time I order something from the store, it shows up in like 2 days (FAST!!!), and every time I ask questions, someone is willing to help. I am a software developer and this has really inspired me to take a close look at the code so that perhaps I will be able to help sometime in the future. Thanks DiyDrones!
Vincent Mees July 13, 2011 at 1:39pm

Concerning declination I'm getting two different values for the same location on two different sites.

Which one is correct.

Position is:

Latitude: 51° 11' 7.3" N
Longitude: 3° 5' 38.5" E

Sites are

http://www.magnetic-declination.com/

Magnetic declination: 0° -24' EAST
Declination is POSITIVE

http://www.ngdc.noaa.gov/geomagmodels/struts/calcDeclination

Declination = 0° 20' W changing by 0° 8' E/year

Magnetic Declination on Map

Click on the map to find the magnetic declination at your location
100KM

u4eake July 13, 2011 at 2:31am

This thread is going nicely ! I have another question regarding camera control. Would it be hard to implement a dead zone in the camera stabilisation ? The issue I have is that stabilisation works nicely when, for instance, pitching forward to gain speed (big stabilisation correction), but it doesn't work so well when hoovering stationary in some wind. The small corrections when hoovering translate into small shocks of the stabilisation servo's, causing a horribly shaky and 'nervous' image. I've managed to reduce the shaking a bit by redesigning my camera mount and using higher resolution servo's, but I can't seem to eliminate it completely.
Anyone else noticed this, and would a dead band for the stabilisation servo's solve this issue ?
Jose Angel July 12, 2011 at 4:40pm

From the SVN log:

2.0.35
Added camera reversing parameters in AP_Var
Added RTL Throttle Hold set/check
Added dynamic speed control to slow down as you reach waypoints and RTL Home
upped Yaw Dead zone slightly.

Jason, you don't sleep!!

of 4

This reply was deleted.

Discussions

Arducopter 2.0.34 Preview

Replies

Activity