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
Jay check that your HDOP value too.. HDOP 2 with just only 3 satellites is kinda impossible. Usually you start to get low HDOP values when you have 6-7 or more satellites connected.
When you switch to loiter, does it lean forward everytime and no matter what is your real compass heading?
Hi Dev team,
Pls. I need your help. I have APM 2.6 + GPS w/ compass. some specs: 20A ESC's (hobbywing), aerodrive sk3 2830-1130kv brushless motor, 9 x 4.5 props, 2200 11.1v lipo, & DIY frame.
I've got 11% compassmot reading.
I hover perfectly in stabilize mode, however when i flip it to loiter mode it lean forward and flyaway. What do you think causes the problem?
Is the reset or erase EEPROM will solve the problem?
Thank in advance.
j
Flip over to the right and crash on takeoff
After many successful flights (just one weird issue of motors stopped in air 2 weeks a go) , today I was trimming the Hexa in garage with auto trim mode, and after that the hexa flew like a charm, no drift, flying almost with no hands (in garage). After that tried to fly outdoors (no wind at all), and in the takeoff the hexa flipped violently to the right breaking two props.Attached two logs, first from the indoors trimming flight, and the second log from the related crash. Any help is very appreciated, thanks.
P.s.: My APM is alimented by the esc bec, can be related with the problem?
2013-09-16 22-10 23.log
2013-09-16 22-10 24.log
Low battery level causes my onboard beeper to beep continuously since installing a volts/current sensor on APM2.5 with v3.0.1.
Is there a way to change this (or disable just this low battery beep) to a rapid pulse rather than the continuous beeeeeep which is actually inaudible when the motors are running?
What will happen with COMPASS_LEARN as now with COMPASSMOT it seems obsolete? Or are there any plans to "fix" it?
Hi Randy,
I just uploaded AC 3.1 but having a hard time arming it. I don't know? I just did all the calibratation all over again, from live compass calibration to compassmot.
I notice that because this is not an issue in AC 3.0.1.
Thanks.
jdrone
Randy
I have recommend about motors always spin when armed in 3.1 for release version. I think it should no have spin when on stabilize and acro mode only. Because,If somebody have bad landing or crash i think maybe motor is not stop and it have prop damage or more than when it's crush on the ground.
This's my idea.
ฺำBest Regard
Balloon
Thailand
Hi Lads
Here is my APM2.5 install Tarot Hexa 810 .. with 4114 320kv motors and 15 inch props:
I have put my external Mag just above the APM and the external GPS you see resting on one boom will go on a stick ..I have a noodle bowel I have painted to cover all electronics and will be attached to the Velcro strips around the center plate ..I am just waiting for the final release of 3:1 firmware then this baby will be loaded and flown.. all my other machines are still with 3:01 are doing well, I have had no more issues to speak of yet ..thanks guys
Sorry about the camera phone photos ;o)
Hi Guys .. I just wanted to share my settings for 5 flight modes on a JR XG11.. I think it could be added to the wiki ?
Set F/Mode Names to 1) STABI 2) ALTHD 3) GPS (Loiter) 4) AUTO 5) RTL
Set F/Mode switch to GEAR and Extra switch to AUX2
Set MIX 1 as AUX2 to GEAR +: + 95% and -: +125%
Set Gear travel to +75% - 35%
Set Aux2 travel to +35% -150%
This will give the one switch you set to (GEAR) i.e F.MODE Switch ..
In the normal position is 1) STABI.... first click... 2) ALTHD ....2nd click.... 3) GPS ( loiter)
Leaving the Gear switch in 3) GPS .. the OTHER switch you set to be the extra F?mode switch would be: First click 4) AUTO..... 2nd click.... 5) RTL
If you left the GEAR switch in Normal Position i.e 1) STABI the Other switch would give you normal position STABI ....first click = ALTHD .....and 2nd click = GPS ( loiter)
The great thing about this is the flight mode name shows up on the radio screen :o)
I hope this helps some people, I really struggled to get this working ..
If anyone has any improvements please add
Cheers Reuben
Ok, found a couple of things that are a little interesting....
Uploaded beta firmware, flies awesome! (TBS type frame)
i added a buzzer and moved a few things around, wouldn't arm. redid compass cal. numbers went from really low to over 600+!!! (fails compas pre arm check, great idea, thanks guys!!))
After thinking the APM had developed an issue, I tried another one, same problem..... So unplugged the buzzer, no change,. physically removed the buzzer, all back to normal...!
Instead of painting the inside of the case to stop sunlight getting to the sensor, I approached it a little different. I have a raised platform that the APM sits on. Now it sits underneath this platform and inverted. Adjusted orientation for roll 180 and all good! Gives a good spot for the gps antenna to sit on too! I made the platform from some scap PCB I had laying around... Looks a lot cleaner too!!
Cheers
Steve
-
22
-
23
-
24
-
25
-
26
of 42 Next