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.
Comments
I pray every volunteer testers to leave your feedback about the version 3.0.0.rc1 available only for expert users on GitHub (downloadable here), you can interact and leaving your comments in this discussion but of course, first update your APM, calibrate manually the compass and declination, try it and post your impression!
Remember: there's safety system on V3, you can't arm the motors if you compass or accelerometers value are wrong or out of range!
In the first post there's my parameters.
Thanks, Marco
Hi Daniel, i opened a discussion about "ArduCopter V3.0.0.rc1", find it by clicking here, can interact by leaving your feedback but updates before your APM, thank you!
Thanks Daniel for your great report, please can you try with hte actual master trunk?
Remember to decrease INAV_XY from 3 to 2.5.
There's no guide for "test version", only for the release:
http://code.google.com/p/arducopter/wiki/Programming
Here a video of "manual compass calibration" (in italian, sorry).
Yes, all the info are in the ArduCopter Wiki.
Yesterday I was able to make test flight on my hexa with px4 on board. Alt-hold was perfect as a Loiter and RTL. I still have not good vibes on frame (bad motors) but two layers of moongel save me a little.
@Peter, LOL! :-)
Nice, i see your correct parameters now, you must tune better your Loiter parameters, try to play first reducing P and I.
Or try with the "test version" 2.9.1b-DEV, flash and then reset the board to default and changing only the parameters that I wrote above.
@Ben H: same suggestion for you, if you want to try the test release, but always and only if you are aware of what you do.
There have been many fixes since version 2.9.1b and some of these relate to the stability of the Loiter and the other automatic mode.
Hi Peter, from your parameters file i see this:
COMPASS_OFS_X,0
COMPASS_OFS_Y,0
COMPASS_OFS_Z,0
INS_ACCOFFS_X,0
INS_ACCOFFS_Y,0
INS_ACCOFFS_Z,0
INS_ACCSCAL_X,1
INS_ACCSCAL_Y,1
INS_ACCSCAL_Z,1
Please don't hammer me with this kind of request, if you don't manually calibrate the compass and accelerometers how are you supposed to be able to make a Loiter? ;-)
For users wanna try the test code: please test it only if you know what you're doing, you might fly away and crash your quad!
There's a testers team that is trying for a long time, we always need your feedback are very important to us, but if you don't know how to proceed don't do more tests, wait for the final version.
@Daniel: for the circle check the compass calibration and declination, are boht manual in your quad?
NEO 6M performance is near 6H.
About the wobbles during Loiter try with this parameters:
INAV_TC_XY: 3.000000
INAV_TC_Z: 6.000000
INS_MPU6K_FILTER: 20
THR_ACCEL_P: 0.500000
THR_ACCEL_I: 1.000000
THR_ALT_P: 1.000000
THR_RATE_P: 3.000000
THR_RATE_I: 0.000000
THR_RATE_D: 0.000000
Anyway i've already reported to Randy/Leonard this "fast wobbling" when the inav is enabled, in Loiter/Alt-Hold/RTL/Auto, modifying any of the parameters have not been able to remove them, and my setup is "vibration-free".
Have you reflashed esc?
The results are impressive. I'll wait for V3.
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