ArduCopter 3.0 is ready for widespread use. To make the transition easier, this time we are asking people to voluntarily upgrade from 2.9.1b for the next month or so before we make 3.0 the default firmware downloaded by the mission planner. The new version can be found in the Mission Planner's Beta firmware's link, firmware.diydrones.com, GitHub and the new Downloads Area.
Warning #1: A bug was found in the FENCE in which if you lost GPS it could lean at extreme angles as it tried to maintain an invalid position. This is fixed in AC3.0.1-rc1.
Warning #2: This release has not been fully tested on Traditional Helicopters
Warning #3: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the WPNAV_ACCEL to 100 and Loiter PID to 0.2 (from 1.0) to reduce aggressiveness.
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.
http://ardupilot.com/downloads/?did=63
2. Click on the MissionPlanner's Firmware screen and click the "Beta Firmwares" link on the bottom right. The version numbers should update to "ArduCopter-3.0.1rc2", 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. If you purchased an APM prior to March of 2013, update your PPM encoder to the latest firmware.
http://copter.ardupilot.com/wiki/common-ppm-encoder/
http://copter.ardupilot.com/wiki/common-ppm-encoder-apm2x-atmega32u2/
5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Special Thanks to Marco, DaveC and the rest of the beta testers for putting 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.
Added by Craig:
Please watch Randy's videos on setting up and flying APM-Copter 3.0 before you go flying. They are excellent!
Replies
i'm using mp 1.2.59 and it's still impossible to connect via terminal to do the compassmot. I connect mains to APM and then connect via xbee to MP and then within 20 seconds I go to Terminal and press Connect APM. Then all i get is a string of garbage characters and i don't see the APM rebooting. I've tried many times. Is there any other way to connect to Terminal or do compassmot?
I just installed 3.0.1rc1 over 3.0rc6 on a 6kg octo and am trying to get rid of the infamous TBE. It must be a declination issue so I'm going to tune that with ch6 but in the mean time I noticed in the magnetometer section the log calibration so I tried that using the previous flight flog. Just some hovering and small circles overhead. What I got was -35, 49, -95. Is that within range? I've never had any magnetometer interference with this that I know of because the APM is pretty far from the PDB.
Also should I still do the Live Calibration or does one overwrite the other?
Is there an rc2 around the corner?
I test loiter and RTL (WP_YAW_BEHAVIOUR = 1) and had little wind (2-3 knot) by 3.0.1-rc1.
Controller : APM 2.5 and GPS uBlox LEA-6H
Frame : Tarot Quad 650
Motor : T-Motor MT4008 600KV
ESC : T-Motor 40A
Prop : Carbonfiber 15x4
Battery : Zippy 4s 8000 mAh 30C
Radio : Turnigy9x Upgrade Frsky Module
Hover Time : about 24 - 26 mins.
I need decrease loiter speed to 0.200 (from 1.000) and decrease WPNAV_ACCEL to 100 (from 250) and Increase loiter rate to 1.300 (from 1.000). Because, It have sudden and aggressive when fast turn yaw or auto waypoint. But now, I like it when after tuning to finish.
I've just upgraded from 3.0rc5 to 3.0.1rc1 and am having trouble getting into terminal via xbee. Normally I'm able to do this within the 20 second limit so I can do my compassmot but it's not allowing me. Just doesn't go into terminal. I'm using 1.2.58.
Hi Randy - I hate to bug you but I have exhausted my debug skills and maybe you can spot something in the logs. Basically , my APM 2.0, 3.0.1rc1, x525 quad, UBLOX has been flying great under 2.9.2 - yaw holds even in tough wind, loiter good, missions good, etc.
I have run the 3.0.1 download several times, run all the calibrations several times, got mag interference down to 14%, balance / level props, calibrate ESCs, and yet every time it yaws to the left - in AH or loiter it turns relentlessly to the left.
I enabled all logs and did a test flight - what am I missing??
Thanks for your great work.
2013-07-04 15-19 1.log
2013-07-04 15-19 1.log.gpx
param 3.0.1 basic setup-2.param
Loaded 3.0.1-rc1 and setup as Randy's instructions last night. Got 3 test flights tonight and I am really impressed ALT Hold is solid and Loiter is impressive even in a gusty 10-15 mph wind.
I have included a log of my last flight and would appreciate some tuning advice.
I have a 3DR Hex with 800kv motors and 10 x 4.7 APC Props
In Stabilise mode needs some tuning
Loiter mode I notice it is making small sharp corrections
RTL mode it climbs to the assigned altitude then suddenly aggressively starts al flies to home, above home stops aggressively then decends and lands as programmed.
Thanks
David Ardis
2013-07-03 21-21 3.log
Hi all,
My setup:
- APM2.5
- Arducopter V3.0
- NO Power Module
- Mission Planner 1.2.58
Problem: Can't access CLI in MP and can't run compassmot command.
I proceed as described in following video (except step #3 -no PM-),
https://www.youtube.com/watch?v=0vZoPZjqMI4
I tried with two different computers (XP and Win7)
I do something wrong? Any ideas?
Thanks.
Noticed a problem. When I load a mission planner 1.2.58 file with the flight. Tlog, when you play the mission mode continuously shows "unknown". Instead RTl, Auto, Loiter ... Please correct
I've been using Arducopter 3.0 for several flights, and it's also very nice in hard conditions (big speed, tight turn, flip, ...).
I have some GPS glitch problem and a strange behavior even with WPNAV_ACCEL to 100 and Loiter PID to 0.2.
Usually after powering my copter I wait to get 7 to 8 satellites before taking off. If after take off I put my copter in Alt Hold, it's nice, but if I put my copter in LOITER after 2s or 3s, my copter suddenly goes away, so no problem to regain control but strange behavior.
This strange behavior seems to occurs only after take off.
A thing that could be handy, is to use telemetry port (or any other serial port) instead of USB to get logs, because most of the time plugging the USB cable into the APM is a little hard and the board could move, so level may not be the same after.
Is there any reason why log can't be downloaded with another serial port than USB ?
Thanks,
Hello
I have been using 3.0-rc1since it's available with pretty good results (Stab,Alt_hold,loiter & RTL).
Yesterday while in Loiter the quadri went wild ,and I could 't controlled it ,the bird finished against a tree !!!
I am very lucky only minor damage ( Landing gear ,props).I am well aware of the warning # 3.
I just wonder if this is a GPS glitch ?
Here is the flog for this flight.
Thanks for your opinion.
2013-07-01 19-34-52.tlog
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