Just got back from testing the latest version. I'm having great luck with it.


Improved alt hold: Look for about twice the accuracy for altitude hold than the previous 2.0.40 preview. It's really good and the motors don't pulse as hard as they did before.


Loiter looks great and has the wind compensation turned on now by default. It wasn't enabled before.

RTL is running very smooth. Circle mode needs some work. Installing this will cause you to go through an initial setup process using the CLI. Be sure to setup your radio, level, enable the compass, set declination and enable sonar, etc.


Feedback is appreciated.


Note: This version is no longer compatible with the Mission Planner. Some internals have changed. I'll work with Michael Oborne to get it connected and updatable through the Planner.






Views: 7080

Comment by malcolm churn on September 4, 2011 at 4:48pm

Wind compensation? This is something that i would want to try, i'll install it tomorrow and Post when i test it.



Comment by Jason Short on September 4, 2011 at 5:21pm

Yeah, It's an I term that build up based on position error. It will keep loiter on target in the wind. Older versions had it but it's hard to discern I term build up from other parts of the control laws, so I turned it to zero to disable it. It's there by default now and you should be able to tune it up and down with 

#define LOITER_I 0.01


Comment by malcolm churn on September 5, 2011 at 2:17am

Ok jason i'll load the code tonight, and give it a try. pity winter is coming and hr days are getting short here.

Comment by malcolm churn on September 5, 2011 at 5:48am

Hi Jason is it the same code as the previous 2.0.40P with only PID changes or is some of the code different as well? The previous version is working really well for me with only a few PID changes to the alt hold..

Comment by Jason Short on September 5, 2011 at 8:35am
This is simiar with some bug fixes.

Comment by Jason Short on September 5, 2011 at 9:43am



I'm headed out to a park to do more testing. This video may take 30 min to process. Sorry for my shaky hands.


Comment by david.wiens on September 5, 2011 at 3:20pm

Anyone else have trouble compiling this?

Comment by malcolm churn on September 5, 2011 at 4:18pm

Yeah i did, then i just set the sketch directory manually using the arduino22 setup .txt file


Great video. Jason really stable.

Comment by Heino R. Pull on September 5, 2011 at 9:28pm

Since I delete my "libraries" and "ArducopterMega" folders when placing the contents of the zip file in my sketch folder, I noticed that the APM_PI folder is missing from the "libraries" folder in the zip attached to this blog entry causing compilation errors. It compiles ok if I unzip this on top of the previous v40 preview zip in my sketch folder.  Just an FYI. 

3D Robotics
Comment by Chris Anderson on September 5, 2011 at 9:34pm

Heino: We changed some naming conventions. Nothing to worry about.


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