Warning #1: Compass calibration and reducing interference is far more important than with 2.9.1b
Warning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).
Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).
Warning #4: loiter turns does not maintain altitude. This bug will be fixed in AC-3.0.2.
Warning #5: This release has only been lightly tested on Traditional Helicopters.
Improvements over 2.9.1b include:
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
How to upgrade:
1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)
2. Click on the MissionPlanner's Hardware, Install Firmware screen. The version numbers should appear as "ArduCopter-3.0.1", then click the appropriate frame icon and it should upgrade as per usual.
3. Reduce the Loiter and Alt Hold PIDs if you have modified them from the defaults. The modified PID values for the 3DR frame can be seen in the image below.
Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.
5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Numerous How-To videos are available:
Special Thanks to Marco, DaveC and the large number of testers on the pre-release thread who put their copters at risk during the extended testing period. Some of their videos can be found here, here, here, here, here and here. Thanks also to MichaelO for the MP changes required for this release.
All feedback welcome. Please put your questions, comments (good and bad!) below.
I don't think the directions say to cycle 7 low high but it shouldn't matter.
From what I can see it's not saving the new settings. I'm not sure which settings would be changed. Is this documented somewhere? Doesn't say anything in the link above or I missed it.
It depends on how your are powering your APM. If you are using a PM it will be between 5 - 5.25vdc. If you are using a BEC, then it will be whatever the BEC's 5vdc is set for if it is adjustable. Your Vcc is definitely on the low side. Are you sure that it is being measured correctly by the APM?
TCIII ArduRover2 Developer
Leonardo, I just tried to do an auto tune with a overpowered octo and had to abort it after about 45 seconds or so it seemed. It must have done 30-40 iterations on the roll with some more aggressive than others. I had to catch it 2 or 3 times from getting too far away. At one point it jerked so hard to the right that I decided to flip switch 7 and abort. Is there a way to calm down the auto tuning? I can video it tomorrow if anyone wants to see. I can upload the logs too.
That's my understanding as well Steve, cycling is only needed to test the Autotune PIDs before permanently writing them into APM.
But to be sure, I would try one more time and this time I would cycle the switch before disarming. It wouldn't hurt...
charged batteries and re ran auto tune... worked perfectly on my H-frame quad... PIDs saved... not sure what I did differently but am very happy with the results.
Autotune is a game changer.
to be clear, after the autotune cycle ran, I did this the second time (that worked)
switched to stabilize and landed. did not disarm
switched ch 7 low for 5 seconds.... then high for 5 seconds... then disarmed.
new PIDs saved successfully.
I've got one particular APM board which climbs aggressively when I move forwards in alt hold, and drops (quickly) when I move backwards. I suspect it's somehow a faulty board, but can't interpret the logs well enough to be sure.
I have the info/dataflash log here: http://diydrones.com/forum/topics/climb-drop-when-moving-forwards-b...
for my H-frame the following changed from my manual tune:
Roll P .1304 to .0854
Roll I .02 to .0854 (I've been wondering if MP has a bug showing identical P and I readings when I read my APM)
Roll D .009 to .008
Pitch P .1304 to .1554
Pitch I .02 to .1554 (betting on a bug in MP)
Pitch D .009 to .0150
Stab roll from 4.5 to 6.1875
Stab pitch from 4.5 to 6.1875
Great you got it to work. I will try it that way tomorrow.
I've found that if the receiver is disconnected from the apm power , then voltage increases by 300mvolts,
So probably I could power the receiver from other Esc ??