2.0.50 is a work in progress, but this video highlights the Altitude hold progress in the latest code. 




Changes include a faster Baro filter to reduce latency and temperature induced noise. Alt hold control using the throttle has been upgraded to have a faster and proportional response. 


Acro mode has been enhanced and now has it's own duplicate set of Rate PI's for more flexibility.

I'll have this posted in the next two days to GIT and the mission planner.





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3D Robotics
Comment by Chris Anderson on October 31, 2011 at 9:44pm

Be careful--you'll kill the sales of our sonar sensors! Seriously, congrats--that's impressive indeed. Just imagine what that might do with a better baro sensor in the next version of APM, if such a thing were to exist ;-)

Comment by ThomasB on October 31, 2011 at 11:44pm

Jason, that seems to be a big improvenment. Looks really great! 

Maybe you have implemented a secret 'warp drive' function ? I saw somethink like that at 0::55  :)


Comment by robert bouwens on November 1, 2011 at 1:30am


wow - the warp function is the further development from the function olivier adler mentioned: rocket climbing.

Comment by Balloon on November 1, 2011 at 2:02am

0.55 min. It can invisible function ? ^U^

Comment by Ryan Beall on November 1, 2011 at 6:48am

Jason, what do you mean by faster baro filter?  Just running the control loop faster or are you doing some sort of estimation filter?

Comment by Juan Carlos Hdez on November 1, 2011 at 7:03am

Wow. impressive

Comment by u4eake on November 1, 2011 at 7:09am

I hope you can still change altitude more smoothly too, like it is today ?  


Comment by Jeff E on November 1, 2011 at 7:38am

now i want to load the the git version. One of my quad has no sonar (removed intentionally) since v42. v50 looks promising. If only the rain will stop in the morning and in the afternoon which is when i do my testing.

Comment by Jason Short on November 1, 2011 at 9:32am

OK, I just posted the new code on GIT this morning.

Good luck,


Comment by Dany Thivierge on November 1, 2011 at 10:00am

The fact that you are no longer flying in the park and that you can do it in that very space limited backyard is really showing how "accurate" the flight is becoming. 

good work Jason! will most likely test flight it before the end of week. 

By any chances, did you put back the motor mount light code in the 1280 board version? 

getting quite dark around here and it was nice to get these all working without having to change the code. 




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