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.
Having a bit of an issue trying to set up a 450 quad for a friend.
I have loaded RC7 and done all the setups and calibrations.
It can see many satellites (7-10) and clearly knows where it it when connected to MP but the HUD says 'no GPS fix'
OK so now I try to fly in STAB by disabling the GPS failsafe but the HUD still says 'failsafe' when I try to arm. Im assuming its the GPS failsafe still preventing arming as its the only thing in red and there are no other warnings
CLI test for gps and compass is fine.
Randy - If you pulse the motors - PWM over PWM (?) you could have the vehicle wobble fast enough during YAW stabilization and Flight control to have a controlled RTL or manual flight.
The flight controller would have to be smart enough and have an algorithm for each motor pattern config.. This would eat a lot of space. But, for your example if you varied the speed of the CW with the CCW lowering the two verses the three you could maintain an altitude. Pulsing the motors to maintain stability. Then as normal Yaw vary the motors to turn the vehicle. Be creative but, doing this fast enough you would be able to maintain a flight albeit wobbly. Thoughts to you.
Yes, Marco. I to have brought it up in other forums. It is now a big deal since someone has done it and published the Take Over HACK. It is even more possible now for radio interference. It would be easy to create a device that could just make our machines drop out of the sky or fly away. Known as radio jamming. Or a white wall of noise to power over one of our frequencies and bandwidth.
I'd think to hack other of our craft - If someone understands patterns it would be more accessible to hack our machines via understood patterns than actually deciphering the messages. Example: If you know the music then you can recognize the tune. If someone patterns our communications then they'd know the message format and be able to duplicate or mimic the patterns to take control. If the program samples fast enough then it could run hack type tests for certain responses then take over. Yes, sophisticated but, not very difficult today with what is known and a little thought and time. Could even program a camera to recognize the craft, each flight attitude and as it tests when a test signal matches a known attitude document it giving the perpetrator a dictionary of command/patterns to manually operate the machine. [What a World!]
Oh, Marco - Thanks for your continuing great videos. Very Helpful!
I think it's still possible to fly in this case. Look at the image Randy provided, but do NOT assume that you will cut the motor #1 (pink).
Pitch control can still be done by varying the balance of 3-5 and 4-6 motor pairs, just as we do now. No problem.
To control the yaw, you'll have to have 4-5 run generally faster than 1-3-6. It should be possible, assuming you have enough headroom on the throttle.
Roll control becomes an act of balancing off 1 vs. 3-6. You should be able to do this while maintaining yaw control. As long as 1+3+6 is the same as 4+5, the yaw will be balanced.
Gary Mortimer - I did not find quick information on 7GHz or WRC. Could you provide some links or more key words - please.
Has anyone tried simply mounting two motors to each arm and running them from the APM in pairs? That is sending motor signals 1,2,3,4,etc to two each motors at 1,2,3,4,etc positions? Does this work to fly?
Very good :D
R.L. A clear password exchange would work for a number of years and possibly more for a hobbyist or all the other roaming flyer/photographers. The SkyJack/HiJack situation is more likely to occur as someone would see a vehicle operating and then get their equipment to perform the deed. The communication initiation is open air - the link initiation should only last a few ms and the odds of catching it is remote. Unless of course the hacker is waiting and 'Recording' all air borne communications in the area on the flying frequencies. So - for the big aerospace company - it may be a problem for where you work but, the hobby guy running out to the field that first <1s is practically impossible to capture. How do you shoot a bird when you don't know where it will be or when? Password would be a Good Quick Hack to the APM for another layer of security but, as I noted in another posting - Pattern Recognition would be easy still to implement even with encryption.
I've got an APM 2.6, but that shouldn't make a difference. On Win 7 Professional.
It's strange. Everything else works. It flies well in 3.01 and everrything! I can connect direct without problems, or connect with telemetry, read or change parameters.
The principal problem is that it doesn't get a board configuration.I waited for more than 10 minutes for it to get a board config, and gave up.
If it does manage to respond, it's after a 2 to 3 minutes and says 2560 board.
The light patterns of the APM 2.6 don't change from the normal. blinkimg blue and red.
To double check, I got my IRIS, and tried a program load on it, and it worked fine. Just like in the books.
So the problem seems to be limited to the X8.
Version 3.01 works pretty well, so I could leave it there, but that's not the idea...
Actually there is a bug in auto... it only does the first WayPoint, and just stays there.Another reason to need to try and reload it.
Any help appreciated.
Ok I found the problem. I cant believe I overlook to set it to H and not X after all the double checking. It seems sometimes I cant find the answer until Ive already posted the question.