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ACM2 tricopter AUTO and ALT_HOLD test

Posted by hsucliff on June 29, 2011 at 10:30pm

3689414623?profile=original

3689414581?profile=original

ACM2-logs-2011-06-30.zip

ACM2-Tricopter-Config.param

ACM2-logs-2011-07-02.zip

I set the altitude to 18 - 28 meters high but it went to near 100 meters high,

I was a little nervous since I almost can't recognize how it's flying.

All I can do is trust ACM2, I have both sonar and compass on it.

I felt the throttle control response in ALT_HOLD mode is not sensitive enough.

I used the latest ACM2 code which was downloaded today.

Logs and config files are attached FYR.

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Comments

  • Developer
    Jason Short June 30, 2011 at 10:04pm

    The server is working again. You should get 2.0.31 when you use the planner.

    Jason

  • Developer
    Jason Short June 30, 2011 at 6:37pm

    hmmm. I told the server to recompile it about an hour ago. I'll try again.

    Jason

  • hsucliff June 30, 2011 at 6:19pm

    Jason,

    I run planner and try to download tri FW, it still show AC 2.0.30 beta tri.

    Did you update it, or just ther version number was missed?

    Thanks.

    -Cliff

  • hsucliff June 30, 2011 at 6:01pm

    Answer to RJBK

    min 4:21 was in altitude hold mode.

    Had posted the config file on top.

    Thanks.

    -Cliff

  • hsucliff June 30, 2011 at 5:53pm

    Thanks for the quick fix, Jason

    The wind was tiny, will try 2.0.31 and post the result soon.

    Cliff

  • Developer
    Jason Short June 30, 2011 at 5:23pm

    Cliff, 

    I examined your flight and I've made a number of tweaks to PIDs and crosstrack error.

    Could you upload 2.0.31 and try this mission again? I think the comparison would be tremendously helpful!

    I'm pretty sure you'll see a big difference. Again, thanks for the logs, they were amazingly helpful.

    Jason

  • Developer
    Jason Short June 30, 2011 at 3:44pm

    Here is your alt hold graph - pretty high! 230m3692232104?profile=original

     

     

    Here is your WP nav:

    3692232131?profile=originalLots of hunting. We should be able to tune that out. How was the wind?

     

  • Developer
    Jason Short June 30, 2011 at 3:41pm

    Cliff, 

    Thank you for your log. It was very helpful and revealed a bug in altitude hold. I have fixed the code and will post it shortly.

     

    I also noticed that the sonar was not reporting correctly. This may be a bug as well. I have been seeing a lot of bad or false sonar reads lately so I reverted to the previous library code for sonar. If you could erase your logs and do a new flight with your sonar on I would appreciate it. With the newest code of course. Look for 2.0.31.

     

    Jason

  • mc_don June 30, 2011 at 10:20am
    min 4:21. what is flight mode?
  • mc_don June 30, 2011 at 10:15am

    so nice..

    when the 3C facing you, what is flight mode? loiter or hold alt only?

    can you share you configuration file setting?

    thank's before

This reply was deleted.