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:
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
How to upgrade:
1. Make sure you are using Mission Planner 1.2.59 or newer.
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.
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.
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!
oh thanks i will defiantly try that! thanks!!!
I have sent Marco some test code so hopefully I will be able to report a fix soon!
yesterday I tried arducopter v3 on my quadcopter
I use NEO-6M GPS module
Stabilize mode looks good
loiter mode looks good
poshold mode looks good
althold mode looks good
but when I tried to RTL mode with distance approximately 10m away from the home point
4 of quadcopter motors stop working as there is no signal that go to esc
and finally crashes: D
whether the NEO-6M GPS module is not good for the APM
or the need for an external BEC to power APM
sorry my bad english
Nope. Roll/Pitch In are definitely my stick inputs.
Roll and Pitch are what the copter is actually doing.
What Drol and Dpit are, is still beyond me.
I can't see any correlation in those 2 between stick inputs or actual copter angles, when flight mode is loiter.
INAV didn't contain anything regarding Roll/Pitch.
Hmm, maybe Drol/Dpit are responses to a position error? That would explain a lot.
DRol & DPit are the desired roll and pitch from the controller
Yeh, there is a bug that stops the I term building up.
There will be fix out shortly.
Sorry about that one!
Ok, sorry I miss read your last post.
RollIn and PitchIn are your stick inputs.
Roll and Pitch are the measured roll and pitch angles
DRol and DPit are the roll and pitch commands from the auto controller.
I'm not sure I 100% follow. But the main point I'm making is that current PPM is masking no PPM signal by using valid PPM signal set to certain values. This is the same problem we have with FrSky RC Receiver holding the last known values, or when the RC receiver moves to preset failsafe values, is that we are not sure it's a failsafe condition. If we can signal from the PPM encoder its lost the signal, outside of using valid PPM values, I think that is clearer. (though it doesn't solve it for all receivers)
I'll check over the failsafe logic you posted early. It really helps. The configuration I will be checking is loss of PPM signal, as that is how I have setup my FrSky unit, and the APM/PX4 should be able to understand clearly this is a failsafe condition.
Thanks, now I understand, and the data makes sense now.
a dataflash log would be helpful.. if you already succes at loiter or althold, there should be no problem with GPS or BEC or vibration.
coba donlod lognya dulu bro, sekalian di post laporan problem.. lagian kalo loiter/althold udah sukses.
harusnya ga ada problem di GPS atau BEC atau vibrasi