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.
Jason
Comments
When will be available to be downloaded with Mission Planner ?
I did change the ratio in config.h
// Y6 Support
#ifndef TOP_BOTTOM_RATIO
# define TOP_BOTTOM_RATIO 0.90
Is that above code not being used right now?
It was .92, I changed mine to .90
I have been researching y6 prop sizes/motor speeds and nobody seems to have a clear consensus on whether to use different prop pitches or different motor speeds. But I don't mind experimenting so if the ratio is not enabled you could enable it. I am using default pids except stabilize Pitch&Roll is 4.4 and stabilize I is .005
Great,
What do you think of adding back in the top/bottom ratio to slow the top motors. I'm adding that back in by request for y6. The default would be .9, but you could make it 1.0 and it would behave exactly the same. I don't have a Y6 so i need to ask around.
Jason
I have been flying 2.0.50, from git this afternoon, for over an hour on my new y6 50cm m2m,12x38sf apc props top,12x45 epp props bottom,2831-11motors,1500g auw with gopro and 4500mah 30c lipo. Very nice alt-hold with my unfiltered LV-EZ0 sonar up to 8ft with no pulsing at all. After 8ft it pulses (fast) up and down about +/- 1ft but slowly climbing. I am getting 13 minutes from the nanotech 4500 30c lipo. I do not have my baro, as a test, covered but I have a tight fitting polycarbonate dome over the electronics. It can breathe thru the velcro. Yaw control is excellent. I mean dead on. I did calibrate my compass the ardupiratesNG way though. After reloading code this afternoon with arduino I armed the copter and spun it in all directions then I un-armed. My mag is mounted underneath the gyros/accels with foam tape and it does not seem to jitter as much as the mag on my other apm which is mounted like the wiki. I have not enabled the new accel_alt_hold code yet though. Flying stablize on this windless night I could keep my hands off the tx for 10 secs or more and just give minor nudges to keep it in one spot. Very Nice! Thanks!
That's actually how it will work in release, once testing is finished. One day.
I saw the IMU offset values didn't print correctly in your CLI dump. That makes me think they were corrupted. If anyone want to help debug this, PM me. I can show you where to look to confirm it. I just don't have HW here at work.
Jason
That flip was really mysterious...
Robert, I believe he cut the throttle after getting blown out of range.
Jeff, Can you plug it in and see if the imu test still works? Also, the adc test in the CLI would be helpful.
Also, did you set a value for Loiter radius using the Mission planner?
Jason
the dcm experts should look at:
spiraling down
even the lightest wind can cause problems.
the heino suggestion to lower the kp values for dcm is not good for us but for:
it never rains in southern california
robert
Could you post a text files with your CLI output for setup] show?
Was there anything you did or noticed right before the flip?
And did you have any defines set other than the defaults?
Jason
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