ArduCopter 3.0.1 has been released and is now available in the Mission Planner, firmware.diydrones.com, GitHub and the new Downloads Area.
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:
- Inertial Navigation for Loiter and Auto meaning much more accurate control (Randy,Leonard,JonathanC)
- 3D navigation controller follows straight lines in all dimensions between waypoints (Leonard,Randy)
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
- "compassmot" to compensate for interference on compass from the pdb, motors, ESCs and battery. (Randy,JonathanC) (Set-up video here)
- Safety improvements:
- simple Tin Can shaped Geo Fence
- pre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero). (video description here)
- GPS failsafe - switches to LAND if GPS is lost for 5 seconds
- stability patch improvements to stop rapid climbs in very overpowered or overtuned copters
- Circle mode improvements including "panorama" when CIRCLE_RADIUS set to zero (Randy,Leonard)
- SONAR_GAIN parameter added to allow better tuning of sonar surface tracking
- CH8 auxiliary switch (same features as CH7)
- works on PX4 (some minor features still not available) (Tridge,PatH)
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.
4. Although not directly related to this release, if you purchased an APM prior to March of 2013, update your PPM encoder to the latest firmware (instructions here).
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.
Replies
I've just uploaded this release, flew it a bit on my tricopter, and it is super rock solid.
Stabilize, Loiter, ALT Hold,and RTL work flawlessly.
I haven't tested the auto-mission.
Once again, I commend all members in the development team. Thank You!
How effective is using sonar on this version? How much difference will the sonar make for alt hold accuracy and stability in this version? I just bought the MaxSonar MB1240 to try it out, but not sure whether to use it on my APM1 or APM2.5
I had a flight with a small quad today using 3.0.1 and was doing some fast circles LOS and just after 92% in the tlog it lost control. I was able to recover it but i would really like to know if there is something in the log that shows what caused it. There wasn't any change of mode and I was in stable during that time. The exact point shows up if you watch the hud horizon but it's right after 92%. I was flying forward toward my self strong pitch forward and I saw it jerk really bad so I let off the pitch/roll and recovered it staying in stable.
2013-07-13 08-52-49.tlog
Hi Developers,
great software !!!!!
http://youtu.be/ZTG5YHrqMOE
Big Thanks to all, for this great forum and support !
Thomas
Oops - posted my last reply to the old thread. Let me try again. Been playing around with 3.0.1 on a test quad I have. It is a bit heavy but around the 450 size. In the past it has been a good test platform but I am having difficulty getting the quad to loiter without major drift. I have increased loiter pid a bit (1.1) but didn't see any difference. Do I need to really jack it up or is this the wrong pid? Using Ublox GPS with APM 2.5+. Did a manual compass calibration.
Well done! Ill try get out on the weekend to test it
I made a couple of videos to show a alt hold yaw problem I'm having. I wasn't having it before but I think it's because some settings got changed in the process or some became more sensitive. My loiters are very good but if I try to yaw, it climbs or descends. Since the octo is a little over powered and not holding it's camera, it's more pronounced. What setting can I change to reduce that?
I've attached a log from the second video.
Here is a 8x speed loiter. Some z movement sometimes but usually it doesn't even do that. I think that was just the location I was flying in. The pressure might have been fluctuating there. I'm on the peak of a mountain.
Second video shows the problem. I'm in Alt Hold and when I give yaw you can see it jump up or sometimes go down. It always recovers but during an fpv flight it can be uncomfortable because your not sure how much or quick you are descending.
2013-07-12 09-18 2.log
What is 'atlasl' parameter in status window (MP1.2.60) ?
(right below 'alt' param.)
Alex O asked how to enable the motors in the dataflash. Below is a screen shot of where in the mission planner you can do this.
I saw the new firmware come up on my software suite. Now I am running a RTF 3D hexa thats (apm 2.5) less that 2 weeks old should I really be upgrading this seems like lots of improvements. My major question is do I need to go through the whole setup process or just reduce the pids suggested? Everything is stock setup from 3D. Is there a backup function to what I have now just in case I have issues and just want to go back with all my settings. I assume I can just screen shot everything. Thanks guys you are doing some really amazing work.
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