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.
Jason
Comments
Those RTL plots look great! As for your baro, is it covered as described in the manual?
More testing feeback:
- Alt_hold: same feeling as in the morning. 2/3 meters but ocassionally bigger errors. As you can see in the attached image, my baro is sometimes reporting negative altitudes... ¿?
- Loiter: great, like in the previous flights. With some wind it's not perfect.... but we already know that :)
- RTL, solid like a rock :) 10 tests and everyone with success.
Only one note. I commented in apm_config.h //#define RTL_YAW YAW_HOLD
So I expected the copter using (YAW_AUTO), i.e. yawing to the home, and goint with the front arm in the direction of the target. But there was two times it came with yaw_hold, i.e. not changing the current yaw. Strange but even in that case effective.
- CIRCLE: not really nice. two times I didn't see really a circle in the air :) Third time, it "appears" like a circle but not really nice. I imagine it is not easy, Jason.
Thanks Jason.
Several RTL paths. Perfect.
Back from testing latest version (2.0.40) from the SVN:
- Stabilize: great as usual
- Alt_hold: after reading Jason saying that it was like a sonar in the sky my expectations were too high.... yes, I agree that 90% of the time it flies in 1 meter... although there are some times the variation are 2/3 meters.... maybe I have enabled it when not hovering and the throttle level was a problem. In any case the performance is good..... as I said just too high expectations :)
- Loiter: really good! by far the best loiter in all ACM2 versions.... more than 1 minute in a box of 2x2... Great job Jason!
- RTL: for the first time I'm comfortable with the RTL. Last time I tested (two months ago) it was really aggresive and overshoted a lot. In this version, the speed is nice and when it reachs home it loiters really good..... Great step further. In case of any problem I know that I will not loose the copter :)
Jason, keep pushing! We are always ready to test new code!
AirWolf: I've replaced the file in Jason's post with an updated one. Please try that instead.
Heino: We changed some naming conventions. Nothing to worry about.
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.
Yeah i did, then i just set the sketch directory manually using the arduino22 setup .txt file
Great video. Jason really stable.
Anyone else have trouble compiling this?
http://vimeo.com/28622524
I'm headed out to a park to do more testing. This video may take 30 min to process. Sorry for my shaky hands.
Jason
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