Announcing: ArduCopter 2.7
In just a short while, ArduCopter 2.7 will become available for download in Mission Planner. As we worked on ArduCopter 2.6.1, we saw that it had several new and compelling features (as well as many bug fixes and improvement) so it was decided to make this a major version release.
A full list of changes is here, but they include:
New and Improved:
- NEW: 3-axis camera stabilization
- NEW: AP_Limits library: Altitude limits and geofencing.
- NEW: Automatic Flip (Roll axis) is now enabled on Channel
- NEW: GPS lag estimator
- Better altitude control in ALT_HOLD and better altitude transitions
- Better loiter, especially with the new 3DR uBlox GPS. Check out the video from Marco above!
- Better yaw control
- Better DCM implementation, resulting in noticeably smoother flight
- Better velocity control in Auto missions
- Etc
Bugfixes:
- Fix to dataflash erasing, which should resolve an issue some users were having
- Fix some MAVLink commands
- Fix Circle command
- Fix some units
- Etc
Notes:
No more 1280 support (out of program space)
Comments
Bit more detail about the servos:
Generally analogue servos are controlled by giving them a new setpoint at 50 Hz (as mentioned) with the usual 1000-2000us PWM scheme
"Digital" standard servos accept setpoints at a higher frequency still with the approx. 1000-2000us modulation - there is no real standard but if data is given, I have seen <=333Hz at least with Align, Savox (identical for the most part), MKS, Hitec.
As mentioned, 490 Hz is the practical limit for this modulation.
"Digital narrowband" uses a different modulation: 760 us as servo center which gets you past the 500Hz, 560 Hz framerate seems to be typical (again, no real standard here). These servos are typically dedicated tail-control servos for helis.
Operating a servo with too high a framrate leads to signal aliasing and typically smokes the servo as it may be getting forbidden positions ans try to get there but for sure will never rest and just cook its motor and consume lots of power. An indication to this is "singing" when the servo gets a constant input.
So when programming this, please keep in mind that actual servos might need a different refresh rate from ESCs.
Regards, Otto
I've open new discussion in the forum about 2.7 exit, users want to interact with files.
We continue the discussion in the thread, thanks!
http://diydrones.com/forum/topics/arducopter-2-7-released
Marco
@Randy
I use MP with Mav_1.0. My further investigations through CLI: setup->ins:
all parameters stay constant and not being changed when I move my APM1 around axes.
APM1 board upgraded to 2.7, followed parameters but both pitch and roll camera control are not working.
@Jason and Randy
Sounds good and thanks for the explanation. I thought that would be the case. Maybe a parameter that switches between 50hz and 490hz for those using analogue gimbal servos
@Jonathan re camera servo speeds:
In generally we have a lot of flexibility over the output speed to the servos. We have an RC_SPEED parameter that lets you set it to whatever you want for the ESCs...so just need to extend that to the camera servos..the only issue may be that I believe on the Atmel 2560 (APM1/APM2) there are some channels (CH10 and CH11 on the APM2, CH5 and CH6 on the APM1) that can not go up to 490 hz...we definitely want those fast channels for the ESCs so for platforms with a lot of motors we may simply run out of fast channels. I'll need to check.
@Michael Naumov re MP connection problems.
Could you double check that you're starting the Mission Planner which supports MavLink 1.0 (and not 0.9). there are two executables in the directory where you've installed MP...they have distinctive names which makes it pretty clear which is which. I think you can also see in the title bar of the app when it runs. Sorry I can't be more precise as I'm not on the right machine at the moment.
F11music: it'shere, but unless you've very comfortable with Git, Arduino, and the library structure, I suggest you use the zip file instead.
Ran an auto test today and had some problems.
I did Takeoff to 10m, fly to a waypoint at 20m and delay for 30s, change speed to 8m/s, fly to a second waypoint at 20m and delay for 30s, than return to launch at 10m. It did all of these commands, except for the landing at the end of RTL. It just ascended, very smoothly, until I got over manual control. It was also very aggressive when it was delaying at the first waypoint.
I looked at the .tlog and at the end of RTL it changed to Loiter mode instead of Land (which is what it did for 2.6). Is it supposed to do this? and if it is, why did the loiter increase in altitude?
Any thoughts?
-Jake
P.S. How do I attach logs to this post?
We can output all of the servos up to 490hz. 50hz is the default because most servos don't like the high rates and will freak out.
Jason
I'm new to GIT and trying to find the GIT repository for arducopter. Can someone post a link. Thanks!
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