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
Hello,
I made the 3.0.1 upgrade. Checked quickly some data in tlogs and would like other opinions on these two graphs.
One is the VCC (was bugged in 2.9.1), I'm using the 3DR PM that should deliver a rather good and constant voltage, however I see small variations and a general line below 5V. Is this expected ? (I just have a buzzer and two lwo power diodes connected on APM, no servos)
The second graph is a check of the magfield. I notice it varies according to throttle quite a bit. Is this normal and/or expected ?
Finally a last question: in 2.9.1b i noticed i had twice as much hover fly time than now with 3.0.1. How can this be explained ? (exact same copter).
I'm still on 2.91b at the moment. After many problems and failures I had in the beginning, I'm a bit hesitant to made the change, reading some of the problems here.
I believe, I got the vibrations under control now. Still flying EPP props and waiting for new CF props, but my dampening system works well. After I removed the fibertape reinforcement around the cables that go to the APM, the vibes went down again.
Some flightlogs and videos:
But - I have also read lots of good about 3.0.1, so here are some questions:
I'm yet torn about should I make the change to 3.x or not and hope for some enlightenment here :).
--S
2013-07-28 00-39 1.log
2013-07-28 00-49 4.log
Ok Guys ...one more question to add to the learning curve ... Why on my HEXA do three same rotation motors run hotter than the other three opposite rotation motors ? is it something in the settings that's causing it ?
Quick question regarding max pitch and roll angles:
How can I constrain the max pitch and roll angles when flying in auto, stable, and loiter modes?
I had an issue when flying an auto mission where the headwind was strong enough that the copter couldn't maintain the requested speed and it leaned so far into the wind that it couldn't maintain altitude at full power and almost crashed. Can I limit the max pitch angle so this won't happen? I assume if I could, in a situation like I described above, the copter would just travel slower, but would maintain altitude.
I'd also like to restrict the pitch and roll in stable mode as it's a bit too much right now.
Ideas?
Hi Guys I have noticed in MP when setting up Modes ... when i switch from Stab To AltHold and Loiter it MP does not report the switch position above the settings .. i.e ..the green bar moves to the correct spot , but the writing above does not report correctly ? Any one else seen this issue ?
Optical flow is one I really need. Do you know when 3.0.2 or 3.1.0 will be ready?
Thanks.
I wish to change the maximum yaw slew rate when I am in Loiter for smoother AP work. I have tried to just use a little yaw stick and dual rates but it’s hard to get a nice smooth yaw rate.
I changed the AUTO_YAW_SLEW_RATE and now it’s perfect for missions. What parameter do I need to change to do the same thing for manual stick inputs when in the Loiter mode? I looked at the code and it’s not obvious?
Other than that V3.0.1 is working well.
.
One question about HDOP and PDOP:
I can see in AP_GPS_UBLOX.cpp that hdop = position DOP (PDOP)
********************************************************************
linie 264 hdop = _buffer.solution.position_DOP;
********************************************************************
HDOP and PDOP is not the same, right ?
why i ask , is because the PDOP value i read in U-Blox Ucenter software is same as HDOP in mission planner 1.2.62,
HDOP is 40-50% lower in ublox Ucenter.
Don't known if is bug or not, it looks a little strange to me.
possible logging bug or have my board already gone bad :| ... I can't graph my AccY
2013-07-25 15-59 3.log
I get following roll In/roll graph :I notice Roll follows Roll in with a bump in negative (-Y). Does this mean a too low PID setting ? (I have Rate Roll/Pitch and I=0.12 and D=0.04 but for an X8 weighing a good 9 pounds and 12x3,8 props =>probably too low values, although I use it for photography so I want a rather smooth X8, not a race track one). Anybody can comment on that ?:
I then get this graph for THrIn, Thr where I notice Thr out gets bumpy at certain moments in the graph (i remember I turn on Alt Hold at a certain moment, would that explain this Thr Out not following Thr In perfectly ?):
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