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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Comments

Rana April 20, 2013 at 6:11pm

Excellent performance !
Developer

Marco Robustini April 20, 2013 at 11:37am

Thanks Alexey, yes, in this file there's this wrong parameter, dunno why, deleted now.
Wow, what's your impression about this 3339 chip vs 3329?
Alexey Kozin April 20, 2013 at 9:24am

i use mediatek gps but with new chipset globaltop Pa6C with 3339 chip
Alexey Kozin April 20, 2013 at 9:20am

Marco, i get file from page 5 of this blog discussion :

@Graham: try again please but with my parameters, of course, recalibrate accelerometer and tune other setting for your setup, then leave me your impression... must use U-Blox gps!
Developer

Marco Robustini April 20, 2013 at 7:36am

@Alexey: nice, thanks for you test!
I check now the HLD_LAT/LON here, both are 1, are you sure about this wrong value in my linked file?
@Daniel: LOL!
Alexey Kozin April 20, 2013 at 6:42am

hi
i have nice fly with actual GIT code and marco parameters
im change only one strange parameter from Marco`s set
HLD_LAT_P,1
HLD_LON_P,3
i set both to 1
of course make calibration and using own stabilisation rate PIDs

tested stabilise mode, alt_hold and loiter.
loiter is excelent

lainding in loiter mode
Thanks to developers and testers!
baris alp April 20, 2013 at 3:21am

Wow very impressive.

Marco, did you connect turbocharger to atmega?
titeuf007 April 19, 2013 at 5:01pm

very impressive results

i hope the team will create in a near futur an option like rabbit with the possibilites to choose different configuration(it will be easier for beginners..)
Developer

Marco Robustini April 19, 2013 at 11:48am

This test release is here, but we do not recommend to try it at the time, has yet to arrive in public beta version.
Scott Berfield April 19, 2013 at 11:47am

Nice.- really looking forward to this release. Think I have to start thinking about a higher-end board though - I suspect this is going to be about it for the Arduino-based system.

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