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
That's the delay to recalibrate the barometer. It should improve alt transitions from Sonar while flying in the field.
You may be able to tune down the Loiter P or slow the I term a bit if it is ramping too soon.
Thanks for sharing.
Jason
Mc_don. Unfortunately we cannot. Every different frame that are outside of official frames needs to have their own PIDs. To find perfect PIDs is hand work and a lot of testing. Sure there are some general rules like if your quad wobbles a lot lower down P value and so on. Just make small changes and see how it flies.
Best way to start play with values is to play with P and IMAX values. Those will get you far on tuning
chris my seting:
motor 1000kv +prop 10x4.5 (apc)
frame 30cm/arm
bat 3cell
can you help me to set PID?
mc_don: are you using the standard ArduCopter airframe? If not, you'll probably have to tune the PIDs. The control laws have changed since 2.0.3x
mc_don: Xbee comms works fine with 2.0.40. Check your Xbee modules with X-CTU--one of them may have become bricked. Debricking instructions are at the bottom of the page here.
upload 2.0.40 from AMP (QC Xmode)
but i have big osilation on alt_hold and loiter.
install & enable sonar,GPS+compas.
on stable mode the QC is not stong on windy
any idea?
I also loaded 40 this afternoon and tested. The loiter works great manages to stay within a 3 to 6 meter area. Altitude hold works like a charm. There is a little jumpyness to the throttles in Loiter, RTL, and Alt hold modes starting above 20 Ft in height and worse with greater height. I am 99 % convinced that this is due to the baro sensor having wind pressures change within the sandwich of the frame. Venturi effects etc..
The latest mission planner does work but the pid numbers seem to have changed.
I used the defaults.
The latest 40 is a keeper.
@Jason
Loaded 40 this evening from the MP with no issues, flew this evening in Simple with default PIDs. Even though I have always had very stable flights this time it flew very, very smooth. It was easy to see the random twitches were gone, now it looked as if it was floating on calm water, but control was excellent. Very enjoyable, great for the camera. Alt Hold will need tuning a little, but I am looking forward to loiter and RTL testing.
BTW, a few months back I enter a gentlemens wager that 41 was going to be the release... will I be the winner? :)
Not yet. Planning on it in a future release though.
Jason
Will the mode configuration be availalble in the MP?
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