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
What are the Most important Parts of the LOGS to review while tuning your aircraft? is there a wiki for that? Not the CURRENT on, but one that says look for this to know that? thanks
Hi @Randy
I wanted to ask you if you have found any problems with loiter in RC7. In this forum, two other people commented on a replay I did a coouple of days ago saying that they have the same problem as me.
Sometimes the copter starts drifting to one side (any side) while in loiter. It can happen when you just engage the mode or after a couple of minutes of using it.
If you need logs I will be flying this weekend trying to see if the issue shows up again.
By the way, is RC8 comming this weekend like you said in the Google Groups?
Thanks!
What is the Throttle_Trim parameter for and how does it effect ALT HOLD? is it s system set value or is it programmable. thanks
Christian
If you want to compare the baro altitude and the GPS altitude yiu have to compare CTUN-BarAlt and GPS-RelAlt
Christian
My current problem is finding the Link between my throttle setting and ALT HOLD. In 3.0.1 i did not have this problem, it held Altitude nicely on this quad. on RC7 the FC seems to think i need a higher ALT HOLD than when i hoover at 6 feet or so and it starts rising. happens in loiter to, so what i am trying to deduce is the correct Stick position or THR_MID that maintains the current altitude that the quad is at.
As far as other settings, i havent changed a thing on settingsn other than some GPS LEDs and THR_MID/THR_MAX. any settings currently on the quad came when i updated the Firm ware to RC7. Radio and ESCs have been calibrated. Why is the Power Module at 170A, i have no idea why it is at that, i didnt set it that way. thanks for your help i'll look at the PID settings, i was hoping to do an Auto Tune on this Quad to see how it works out before changing any thing.
Rick
I have been outside with it dozens of times, inside i have the laptop at a desk and test settings out with props off. i am also a bit more conservative than you, i am not one to throw the quad up in the air with out confirming everything is in working order. a fall from 6 feet is less expensive than a fall from 30 feet.
Working with RC7 on my new F450 Flame wheel that i transferred parts from the Walkera X350 i am wondering how to set up my throttle mid. During testing outside, i can hover at about 42-45% throttle, when i hit Alt Hold/Loiter, the aircraft gains altitude as if the APM thinks i should need more power to hover. looking at my log verifies the THR_MID at 450. what am i missing here?
Also in doors, i seem to be having a problem or hitting up against a fail safe. my props are off (I learned my Lesson last time) i am testing the THR_MID settings and my F450 just turned on while the TX Was on but HDOP was between 2.5-3.96. what failsafe do i need to turn off while in doors messing with parameters? What Failsafe would trigger if i am indoors? if it helps any, a couple of tests going into ALT HOLD/Loiter from STABILIZE, the Motors revved down then shut off. i figure thsi must be some how related to GPS Loss of some kind.
Log Attached is from todays Short FLight OutSIDE, not in doors
thanks in advance
2013-12-03 18-35 17.log
Would anyone have a screenshot from a log of a well tuned Alt-Hold? I've been tuning off and on for a week and it will look good in the field but once I look at the logs it seems to fluctuate quite a bit. I wonder if im chasing my tail trying to get the baro and RelAlt to be in sync. Thanks in advance.
how does one change the Propeller start up when armed? i have indicator LEDs that tell me when the craft is armed or unarmed? was it set compassmot to 0? i forgot where that conversation ended
A little off topic but interesting concerning the ArduCopter development:
http://www.suasnews.com/2013/12/26266/eth-quadrocopter-failsafe-alg...
The major problem is that "This technology is patent pending." Hence, I m not sure if we will see something similar in ArduCopter-4.0rc8 (I m also not sure if this will work on bigger copters).
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