ArduCopter 2.9.2ß: position hold near "DJI Wookong-M" performance!

Today I did a lot of testing and tuning with the new unreleased beta version of ArduCopter code, known as "2.9.2ß" (V3 i think for the official exit), quad with APM V2.5 and U-Blox GPS by 3DRobotics.
The inertial control developed by Leonard and Randy, with the support of Jason, is finally giving the results that for over a year all we are waiting.
To be perfectly sure I've repeated this test at least 10 times in three different flight, with the same great performance.
As you can see from this image and video the max radius in Loiter is now not over one meter in windless/gusty winds and max two meters in strong crosswind, near the position hold performance of the best commercial product, DJI Wookong-M.
We are trying to improve the waypoint navigation but now we're here, the next release will be really a milestone.
We still have to solve a few problems related to the inertial control x/y/z, but I am sure that the excellent results achieved so far are to mean that we are on the right track.
I attach the telemetry log.
DJI, here we come...


Ciao!

Marco
-= AC Dev Team =-

EDIT: in my video you can see the version "3" of the code, nothing secret of course, is the current master branch on GitHub called at the moment "2.9.1b-DEV".
Jason Short on the dev list has proposed to move version from 2.9.1 to 3.x for the massive changes inside the code (ap_hal, PX4 support and other), and following its proposal I have appointed as such in my videos, that's all.

2013-04-14%2014-04-46.tlog

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Moderator
Comment by Alex on April 14, 2013 at 12:05pm

Great News.. cant wait for the next release!

And a big thanks to all the developers and testers!

Comment by James W Powell on April 14, 2013 at 12:17pm

Awesome work!

Comment by Gary McCray on April 14, 2013 at 12:21pm

Fantastic Results.

My guess is vibration control is really important now.

I really am looking forward to getting this release.


Developer
Comment by Marco Robustini on April 14, 2013 at 12:37pm

Yes Gary, the "DJI WKM IMU" is in a separate box, suspended with many layers of sponge inside, this ensures optimal performance.
With APM/VR Brain/PX4 now all can achieve the same results but it is important in our case amortize the whole board.

Comment by titeuf007 on April 14, 2013 at 12:50pm

i hope this new version will be without major bug

great job!

this project become more and more incredible

Comment by zmooth on April 14, 2013 at 1:16pm

Wow, I'm still getting over how awesome 2.9.1 is. Good job!


3D Robotics
Comment by Chris Anderson on April 14, 2013 at 2:44pm

Great report, Marco. Thanks for posting!

Comment by Jack Crossfire on April 14, 2013 at 2:47pm

Can't wait for the video.

Comment by Glenn M on April 14, 2013 at 3:04pm

Will this release still perform the way it should if the FC is mounted off centre?

Comment by Rob_Lefebvre on April 14, 2013 at 5:25pm

Nice report Marco.

So, the 1m accuracy you mention, is that "ground truth", or just the GPS track?  At this point, you really need ground-truth, because the GPS might actually be reporting an error that doesn't really exist.  If the inertial controller were capable of holding the copter completely motionless, you'd still see GPS error because the GPS *signal* is moving around.

You should do a test where you leave the Copter sitting on the ground for the same period of time, and see how much the GPS signal moves around.  

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