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
@Sylvain, make sure the ACM and the libraries are in the correct folder as noted on the wiki
@Malcom, as I understand THROTTLE_HOLD will hold the throttle preferably on the hovering point while AUTO is when navigating like in RTL and waypoint navigation where throttle is used to move to target.
Can someone tell me what THROTTLE_HOLD is, Does it just hold the throttle in one place?
I'm Guessing THROTTLE_MANUAL is a straight pass through from receiver to ESC or In my case pitch servo.
THROTTLE_AUTO holds the Altitude by adjusting the Throttle?
Would be grateful if someone could clear this up for me.
Hi there,
I am newbie in Arduino, and I got a trouble compiling, I get the following message:
In file included from ArduCopterMega.cpp:2633:
/Mavlink_Common.h: In function 'bool mavlink_try_send_message(mavlink_channel_t, uint8_t, uint16_t)':
Mavlink_Common.h:32: error: 'comm_get_txspace' was not declared in this scope
...
and many other things not declared in the scope of Mavlink_Common.h . are there several version of the 2.0.40 code?
Not sure if this is some sort of user mistake or a bug in the code, but it would seem that in flight level calibration corrects atleast the pitch to wrong direction.
I was using the 2.0.40 version available on download section, did normal level on level surface and checked that it flew somewhat level while holding from the dome. After that I disarmed and armed until A and B -leds were running. Then i gave it some throtle and held it from the dome, and set the sticks so that it was level. This was ok, but it seemed that I required more and more stick input to keep it from pitching back, and eventually when I held it there for about a minute, the stick neutral position was causing a tilt of about 40deg back. This only got worse as I tried to recalibrate inflight.
I got the quad back leveled when I leveld it on the ground by disarming long enough.
Thanks for the feedback. Sadly, it just rained here so I cant run a flight test. Will try in the few days as I am tied up. I will let you know. I am really looking forward to that baro hold on your vid looks awesome, I can ignore sonar heights if baro is that stable. Tho it would be awesome if v37/38 alt_hold + the new baro hold.
It's really similar. The equation takes the error and desired rate and uses THR_HOLD_P and THR_HOLD_I to generate the throttle output. The desired rate is hard coded for now, but could change. It's set to 2m/s.
Jason
Jason, what is the equivalent of the old THR_BAR_D for THR_HOLD_? or was it removed and changed to rate? I want to give the newer code a go see if anything changes and hope the alt_hold will not do its "climbing on its own" thing like some of us saw on v39 and earlier v40
AUTO with manual throttle? I didn't even think about that possibility.
Throttle basically controls altitude, except when you are too much pitched like me :)
It could be interesting to try...but I need a fleet of 10 copters plus two mechanics in the garage working 24x7 fixing the damages produced by experimental testing :)
BTW, I have been thinking about simulation. Using HIL sim, would we been able to identify this issue?
I haven't read too much over HIL, so I'm a completely noob!
BTW, you can also run AUTO with Manual throttle. Might be good for testing.
Jason
That really is odd that the mode changes are not showing in the Logs. I am stumped.
CMD was being logged, so that helped me find the right spot.
Jason
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