Lots of small tweaks and performance improvements. Here's how testing AP went in the Park:






If you compile with Arduino, you can now set CH7 to trigger some cool things like RTL, or In-Flight leveling. 

Check the GIT tree for details on the changes. Most are just nerdy code optimizations.


This release feels very close, if not the last beta. Thanks for all the testing,



Views: 6241

Comment by Jan Vervoorst on September 23, 2011 at 3:10pm

Very nice, but I think get_angle_boost() still has the issue we talked about yesterday!

Comment by Jason Short on September 23, 2011 at 3:10pm

How so?

Comment by Jan Vervoorst on September 23, 2011 at 3:17pm

Currently the value temp in get_angle_boost() is 1.0 when pitch and roll angles are zero. This gets multiplied by 50 and added to the throttle value in Arducopter.pde. I think get_angle_boost() should output zero if the pitch and roll angles are zero. It currently doesn't do that.

Nonzero values should only be added if pitch and roll angle are nonzero! So basically rewrite the line like this:

temp = 1.0 - constrain(temp, .5, 1.0);
Please correct me if my thinking is wrong or if I'm looking at an old code snippet. Thanks!

Comment by Mark Harrison on September 23, 2011 at 3:30pm

The white lines... are those the waypoints?

Comment by Jason Short on September 23, 2011 at 3:37pm

OK, Fix is posted. I missed that 2 vs 1 thing. It flies fine either way, but it's better and more accurate now.

Yes, the white lines are the waypoints.


3D Robotics
Comment by Chris Anderson on September 23, 2011 at 4:31pm

This version is now available as a download in the Mission Planner. (Also, the Mission Planner has been updated to 1.0.75)

Comment by Anis Nielsen on September 23, 2011 at 5:29pm

I 'm on 2.0.42 using 1.0.68  right now and its flying beautifully ; so just to keep it like that a couple of weeks :]  should i avoid updating to 2.0.44 using 1.0.75 or can one select APM rev  .42 with it if needed ? 


Im trying avoiding updating through arduino; im not up to for ultra-tweaking or dev right now, to say the least :)



Comment by John C. on September 23, 2011 at 6:26pm

Jason, had a great alt-hold/simple mode switch flight this afternoon with 2.0.44


Working well, moving on to loiter and waypoints next.


Is opt-flow integrated into any mixes yet?  I have the HW, but removed it to simplify things.


Keep up the great work.



Comment by Jason Short on September 23, 2011 at 6:34pm

Alt Hold needs to be enabled in the config.h file. It's still experimental, but Randy has flown it and it works. Right now it blends with GPS. Randy says he has some tuning to do based on field of view, etc. Other than that, He'll need to comment.


Anis, try Arduino. It's way more fun to tinker and learn about the code. Plus you can compile in special features. It's worth learning.


Comment by Randy on September 23, 2011 at 10:43pm

re optflow...yes, the FOV is too small (currently 11.3 degrees) and it leads to an overestimation in the roll/pitch correction that in turn leads to wobbles when you get above 4 meters or so.  You'll see this line in AP_OpticalFlow_ADNS3080.h.  I'm sure it needs to be at least 12 degrees.


// field of view of ADNS3080 sensor lenses
#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458  // 11.6 degrees


I'm hoping to get the exact value this weekend but I"m running out of time it seems...


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