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ArduPlane 2.63 released

Posted by Andrew Tridgell on September 17, 2012 at 12:40am

I've just released ArduPlane 2.63

This is a bug fix release, with the following changes:

  • fixed MAVLink code to allow update of the last waypoint in flight (updating one waypoint at a time is unusual, and the code had a off by one bug that prevented it working for the last waypoint)
  • ensure output channel is enabled on a DO_SET_SERVO command
  • only set manual channels in failsafe code
  • fixed handling of DO_REPEAT_SERVO command
  • added new auto GPS detection to fix startup with no GPS attached, and correct detection of GPS type when the GPS is attached after startup
  • fixed support for reversed throttle servo setups

The main reason for this release was the poor startup performance when no GPS was attached. Thanks to everyone who reported that!

Cheers, Tridge

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Replies

  • Paul Marsh September 25, 2012 at 6:13pm

    I made a short flight this weekend with ArduPlane 2.63 and I was very impressed with how well the plane handled the wind.  I wasn't actually looking for any change even though I had read a little here about some improvements in this regard.  I was standing there watching the plane and said to the person next to me, "Wow, the plane is actually crabbing!"  It was obvious in the air, but even more so in the log.

    The difference between air speed and ground speed says we had a steady 10 mph wind, but I'm sure it gusted higher.  The wind direction was close to perpendicular to the leg the plane is on in the attached image.  The plane held that crab angle throughout the leg, but the flight path is beautifully straight considering the wind.  Ditto the leg between waypoints 4 and 5, which might be as close to perpendicular as the other leg to the actual wind direction.

    Really, really nice.  Well done.

    Thanks,
    Paul

    3692512599?profile=original

  • Alexey Kozin September 24, 2012 at 6:14am

    Hi andrew, thank you for your work!

    now in 2.63  some gps modules with 9600 bps settings is automaticaly detected without additional code changes!

    I successfully tested globaltop pa6c module with 3339 chipset

    I tried 2.63 indoor "on the table" and found an oddity. although that the controller is stationary if the point of GPS drift is deflected horizon roll and pitch up to 5 degrees. I believe that the change of position should not affect the level of the horizon.

  • Naji Karim September 23, 2012 at 8:35am

    Thanks for 2.6.4 and specifically enabling support for the 1280/GPS. I loaded the new firmware and I am back in business...

  • Gábor Zoltán September 22, 2012 at 2:16pm

    What would you set, if you have 250m altitude error? :)

    Also in FBW_B almost no reaction for elevator?

  • Andre K. September 22, 2012 at 1:37pm

    please check out this bugreport. http://code.google.com/p/ardupilot-mega/issues/detail?id=762

    I've researched it, and it proves that circle mode is entered with no reason, and the mode does not work as expected then, (unlike when invoked in a normal way)

    There's something wrong with the first 20 sec failsafe - after that FS works fine (but most will be crashed till then.)

  • Wong September 22, 2012 at 9:11am

    I don't understand this code, maybe a bug?

    In <Compass.cpp>:

        if (length < min_diff) {
            // the mag vector hasn't changed enough - we don't get
            // enough information from this vector to use it.
            // Note that we don't put the current vector into the mag
            // history here. We want to wait for a larger rotation to
            // build up before calculating an offset change, as accuracy
            // of the offset change is highly dependent on the size of the
            // rotation.
            _mag_history_index = (_mag_history_index + 1) % _mag_history_size;
            return;
        }

    As don't put the current vector into the mag history, why we increase the history index? (_mag_history_index)
    So that in the next loop, the past element (b1 = _mag_history[_mag_history_index]) isn't a expectation value.

  • Andre K. September 22, 2012 at 7:07am

    2.63 worked well here, except for one awful thing: on RC signal loss, it applied full aireron to one side, and spiraled down until I switched transmitter on.


    Of course i verified that  Auto, Stabilized, FBW-A and RTL works fine.

    Also, in the config I set RTL as both short and long solution for signal loss, yet on ground tests prove that it goes into circle mode first, then RTL.

    Is the full-aileron catastrophe a known bug ? - I cannot imagine what else that would be, if not a bug.

  • YureZzZ September 22, 2012 at 6:24am

    I just flew 2.63 fine, except that when I use airspeed sensor plane loses some alt in tight turns in RTL mode, but just for a while and then it regains it. Any idea on what to setup in my case? Thanks 3D Robotics and Tridge!

  • Aami September 20, 2012 at 10:51pm

    Look forward to having the new release Andrew...,

    Thnaks!

    Aami

  • Jeffrey Knickelbein September 20, 2012 at 5:31am

    I have a problem compiling the latest 2.63 code using the Arduino environment. I copied the libraries to the required location, and then copied my APM_Config.h file over and it reports several compiler errors.

    I get these errors:

    ArduPlane.pde:-1: error: 'UBRR0H' was not declared in this scope
    ArduPlane.pde:-1: error: 'UBRR0L' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR0A' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR0B' was not declared in this scope
    ArduPlane.pde:-1: error: 'U2X0' was not declared in this scope
    ArduPlane.pde:-1: error: 'RXEN0' was not declared in this scope
    ArduPlane.pde:-1: error: 'TXEN0' was not declared in this scope
    ArduPlane.pde:-1: error: 'RXCIE0' was not declared in this scope
    ArduPlane.pde:-1: error: 'UDRIE0' was not declared in this scope
    ArduPlane.cpp: In function 'void USART0_RX_vect()':
    ArduPlane.pde:-1: error: 'UDR0' was not declared in this scope
    ArduPlane.cpp: In function 'void USART0_UDRE_vect()':
    ArduPlane.pde:-1: error: 'UDR0' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR0B' was not declared in this scope
    ArduPlane.pde:-1: error: 'UDRIE0' was not declared in this scope
    ArduPlane.cpp: At global scope:
    ArduPlane.pde:-1: error: 'UBRR3H' was not declared in this scope
    ArduPlane.pde:-1: error: 'UBRR3L' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR3A' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR3B' was not declared in this scope
    ArduPlane.pde:-1: error: 'U2X3' was not declared in this scope
    ArduPlane.pde:-1: error: 'RXEN3' was not declared in this scope
    ArduPlane.pde:-1: error: 'TXEN3' was not declared in this scope
    ArduPlane.pde:-1: error: 'RXCIE3' was not declared in this scope
    ArduPlane.pde:-1: error: 'UDRIE3' was not declared in this scope
    ArduPlane.cpp: In function 'void USART3_RX_vect()':
    ArduPlane.pde:-1: error: 'UDR3' was not declared in this scope
    ArduPlane.cpp: In function 'void USART3_UDRE_vect()':
    ArduPlane.pde:-1: error: 'UDR3' was not declared in this scope
    ArduPlane.pde:-1: error: 'UCSR3B' was not declared in this scope
    ArduPlane.pde:-1: error: 'UDRIE3' was not declared in this scope

    I used to get it right with Arudplane 2.50. I made some changes to the current offset for the ACS715 current sensor. I attached my APM_Config.h file for reference.

    Funny thing is when I tried this same thing at home, I get different errors telling me that something in the AHRS software is undefined.

    APM_Config.h

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