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
Does anyone know what causes the spikes in the sonar ? What is the source of the pulsing "sudden" noise that causes the spike.
Im guessing is it an overflow of some sort ?
Funny thing is sonar seems to work without the crazy drop and restore if im really close to the ground say 1ish M. The more i lift the more dramatic the spikes.
Hm, so I had a successfull first flight with my apm2.5, mtk v2 gps and rctimer 450 clone kit today. I have added some pics of my setup since I think I get rather good compassmoot values (22%). I have also added my .log file since I have trouble deciding if my vibration levels look ok or not? (Is this the right log file to upload btw?)
(my "antivibration setup": plastic plate <-> glue <-> dubro foam <-> glue <-> silver tape <-> apm).
2013-07-16 22-35 4.log
Finally got out at noon today to fly (clear day, no wind - rare around here). Flew Stab and alt-hold, loiter, a simple mission. All perfect. Very happy.
Hi!
How is the Stock APM2.0 MTK 3329 support in 3.0.1. Does it blend into the INS stuff? I am just asking because I plan to put my apm2.0 back to work on my little quad and was wondering, wich SW version to take without spending extra money on hardware. I don't want perfect PH with that quad just a "stay somewhere in 6 m radius" and some RTL with low accuracy, no waypointflying or "high" level stuff planned.
Cheers Rob
Yeah congratulation guys! (wish we could also say girls but none!)
This is a VERY big release. I did some testing on the beta like many, cannot wait to get everyone onboard on this revolution. When setup correctly (pay attention to vibration and magnetic interference) this rocks solid! Will be doing some video next week when in vacation and this for sure will be put to the test.
Dany
www.CanadaDrones.com
Congratulations to the development team, on a job well done! Unfortunately I won't be able to test the new code for a few weeks, I'm vacationing in Brazil and my wife would not let me bring a copter with me. ;-(
hi Randy
what options used for official hex compilations?
i tried to compile git code for quaid but my hex file size was large
#define DMP_ENABLED ENABLED in official hex?
Trying to get my head around the fail safe setup here and after half a day of lots of reading I think I am making headway.
I have a Futaba 10CAG and using an FrSkye TFR8 receiver. Ive read that the TFR8 has a fail safe feature as well and they advise to disable FS in the Futaba TX if using this RXs fail safe so I disabled that in the TX. Thats all Ive done so far. I'm not sure if the FS on the TFR8 is on or off yet.
But when I turn off the TX is see in MP the throttle drops to 900. I'm not sure if this is from the RX setting this or from the APM2.5 boards encoder. (updated to the latest fw version)
My question is, is this sufficient enough for the FS to work? Is the setting of 900 from the APM or the RX and how can I check this and is it to low at 900?
Just with the USB cable connected and the APM armed, when I turn off the TX it disarms the APM. There is no GPS lock as this is indoors. Will this fail safe work without GPS lock if just flying in stabilize mode?
With the 3DR IV Sensor power module, does this supply enough power to the APM2.5 board so that the out put pins on A10 and A11 are sufficiently able to power the servos for the camera gimbal? Or do we still need to use a separate ubec to avoid brown outs? I am using two small analog 9g servos.
Also is this comment still relevant for the setting up the 3DR IV Sensor Power module?
" You need to measure the voltage from the Power Module's regulator after the APM's diode and fuse, an easily accessible point to measure this is the fuse's lead highlighted in the image above. Type your measured voltage into the field labeled 1. APM Input voltage".
This area grays out and becomes not editable when selecting this power module so I assume this is not needed now?
Lastly , I'm a bit confused between Throttle Accel and Throttle Rate and which one to set to get a firm hover. My hover tends to wanders up and down a bit and I have to constantly adjust the throttle and its difficult to find a throttle position where it maintains a stable hover position. . Note this is during flying indoors with no sonar and no GPS and only in stabilize mode. Ive not tried it outdoor yet. (broken leg has stopped play)
I this jumps up/down on sensor normal or BAD ?
copter on floor , connected USB port
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