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
Hoping someone can help, had a fly-away the other day that I somehow magically recovered from. The mission started by me taking off and going Auto to do a mission. 3/4 through the mission my RC link failsafed but then recovered, so I brought it home to change the battery and send it out again.
When I sent it back out, instead of doing the mission, the copter shot up, straight up, at max power. This was not what the inputs on the radio were telling it to do. It then started heading southeast while still maintaining max vertical speed.
Several switch flips and heart attacks later, I was able to get it to hold Loiter, and using the computer's telemetry I was able to guide it back in. It went to 642m before giving me back control. I noticed in the tlog that it didn't recognize my early attempts at going back to stablize, but it seemed to know where the waypoint was while ignoring that and heading for Mexico. I had telemetry link the entire time but did see on the artificial hud that the rc link failsafed a few times.
My primary question: What happened?
Secondary question: Why on the failsafes did the copter not RTL, even though Home was verified correct, HDOP was very low,
Tertiary question: Why did the copter not respect the geofence alert and RTL that way?
I've since reran accel and gyro setups from the terminal but I'm nervous to fly again. I've attached the log at Craig's request, can anyone have a look and help me figure out what went wrong?
I've had several succesful autonomous missions before this, including that day, that had no problems at all including with takeoff and land.
Thanks so much to anyone who's able to take the time and have a look.
-josh
2013-08-12 22-02 24.log
I need some help understanding the differences in 3.0.1 between the "Loiter PID" value and the "Rate Loiter" values on the "Arducopter PIDS" screen in MP. I'm not exactly sure what operational characteristics are affected by these values.
I'm confused since the variable for the Loiter PID is HLD_LON (or LAT)_P which seems to be an assignment of how aggressive the copter is to holding its lat/long position. How is this different from the LOITER_RATE_P (and the rest) values which assign desired speeds in Loiter, presumably to maintain position? I've read up on what there is regarding these variables but there must be some subtlety which is going over my head.
Ultimately I'm looking to tune out roll and pitch twitchiness which seems to be present during my loiter but not in Stable or Acro modes. I'm wondering if my answer lies in adjustment of these values. Thanks!
Hi Graham, apologies if I ask a stupid Q. Is your declination at -17.xxxx. I had a similar effect and reducing the loiter rate reduced/eliminated this. I just took up my galactica (big H-quad) and loitered her in a gusty area. She performed quite well-less than 2m loiter radius - Oh, I did not do a compassmot at all (I'm too chicken sht to run this copter at full speed in a static hold)
Can you help me with a friend crash? He swich to RTL his cuad and the copter moves very fast and crash, I notice that lose some sats at that moment but not shure that was the problem, the rel alt seems underground?, perhaps a baro problem? Thank's
2013-07-28 18-53 9.log
TIPS FOR ASKING FOR HELP WITH YOUR COPTER/Drone/UAV MISBEHAVING
Often people post their logs here, then get frustrated because their plea for help goes unnoticed, unanswered, or just gets lost in the flood of messages.
Can I PLEASE ask that the blogs (LIKE THIS ONE) be used to discuss the TITLE of the blog entry only. This one, for instance, to talk about or ask questions regarding the version release SPECIFICALLY.
Recently I have a unexplaied crash. I posted it in the FORUM and got an amaizing amount of responses, with ALOT of help. I suppose its about how you ask, and the information you provide.
So here Are my tips :
Doing it this way also helps beginners, because help is then found in one place only, instead of being scattered around blogs, forums, announcements, and so on.
Hope this helps!
Hi All,
Two weeks ago I took a nasty semi-controlled crash which destroyed two arms, two motors on my Hexa-C copter. Well after ordering replacement parts and reassembly was completed this weekend, I decided to conduct a ground up system check and calibration checks. So here is what I did.
1. Performed a multi-ESC simultaneous PWM calibration.
2. Installed latest firmware (ArduCopter V.3.0.1, FW Ver: 120, with Free RAM: 2060) with Mission Planner 1.2.68
3. Disabled all failsafes and RTL functions.
3. Used the Ctrl-W and tested the wizard menus.
Today I took a cautious approach to getting it back up and found it flew in Stablized mode very well. So I brought the Hexa back inside and reprogrammed it so I could test LOITER mode. Took it back out, plugged battery in and let it stand for a few minutes before arming and launching it a low alt (3-5ft above ground). Again in stablized mode, all seemed well. Then I toggled LOITER and noted the copter attempted to maintain position, but it started a slow climbing process. It climbed to roughly 20 feet above ground. Not sure why it didn't stick to the altitude it was at when I toggled to LOITER mode. But it climbed and then hovered. As I watched it hover, I noted it did a few yaws and drifts horizontally (note there was no wind at all) and it climbed slightly then hover, then wanted to climb again.
At this point, I took over and switched back to Stablized and landed it. Logs are attached for your review.
Also note that the time was almost 7pm with a high humidity overcast evening. My APM has a tinted dome over the APM, the APM was raised higher than factory configuration, and I placed tape over the unit to mitigate light influencing the baro.
I'd appreciate it if someone would analyze my logs and help me to understand what the issue may be.
Thanks to the Devs for all the great enhancements. I'm really enjoying the complexity and features in the APM arena.
Doug W.
2013-08-11 18-58 4.log
Does a dataflash log end when you first disarm or does it cover multiple arm and disarm?
Hi Randy,
Do you plan, for a future release, to handle GPS Glitch, for exemple revert temporarily from LOITER to ALT Hold when a GPS Glitch occur ?
Is there a place to look for a good explanation of logging? How to set WHAT you want to log, etc. Also WHAT does the logging? The ground station? What is the SD card in px4 used for? The memory in APM on board, what is it used for?
I now have MANY APM's as well as Px4's. 3 X8's and 1 quad.
I can test many things.
Earl
I don't know if it's the best place for this, I made a vibration test today, with the same frame, same vibration dampener, same battery, I only change my propeller.
The first flight (green : 2013-08-08 18-51 5.log) was done with Graupner 10x5 propellers.
Second flight (red : 2013-08-09 19-15 1.log) was done with 3 Blade 9x4.5 Propellers.
For both flight (speed flight), all propellers were well balanced. The second flight was very windy.
2013-08-08 18-51 5.log
2013-08-09 19-15 1.log
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