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...


-= 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.


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Comment by Marco Robustini on April 15, 2013 at 2:19am

I agree Graham, certainly will be better than before, but the error induced by MTK also with firmware 1.9 is much bigger so do not expect miracles.
The dev team almost always uses U-Blox for the future test, we look forward to achieve decent results.

Comment by Euan Ramsay on April 15, 2013 at 2:21am

I'm sure it will 'work' with MTK, but I suspect the 'optimisation' is for uBLOX. I find this a perfectly acceptable arrangement.


Hard to believe this will improve on 2.9.1 - I've got rock solid loiter already (well, as much as my wobbly props and out-the-box PID's allow).

Comment by Graham Dyer on April 15, 2013 at 7:51am

THIS is rock solid loiter:

I'm holding both thumbs that v2.9.2 (or v3.0 whatever) is like this, this post claims it's close.

If the code is optimised for the U-Blox then they must sell the U-Blox as the default option and get rid of the MTK altogether. For those thousands of us with MTK's, tough, get a U-Blox.

Comment by Rob_Lefebvre on April 15, 2013 at 8:08am

Graham, my quad is already like that with 2.9.1?  You have no wind there at all, so it doesn't show off the performance very well.  I think DJI is better than 2.9.1 if there is wind, but if there is no wind, 2.9.1 pretty much just sits there too.  At least mine does.

Comment by Graham Dyer on April 15, 2013 at 8:18am

Ok, it's not my video just something I found researching a hex frame and it's a Naza with GPS not the Wookong-M. Robert, what have you tuned to get your Loiter like that? Any of the Loiter PID's?

Even in calm air I get 3 to 4m of drift and the twitching problem (that hopefully will be sorted with v2.9.2)

Comment by Rob_Lefebvre on April 15, 2013 at 8:48am

Completely stock Loiter settings.  I just flew a new big heli for the first time yesterday, and it Loitered perfectly right out of the box after having tuned the Alt_Hold.  I got it holding Alt, the flicked to Loiter, and it was perfect in a 20 km/h wind.

However, I'm in Canada with WAAS coverage.  Where are you?  I think some of the reports of poor performance might be coming from areas with out WAAS?

Another factor could be GPS mounting location.  It's in a great place on my heli.  Can be harder with MR's.  Though even my MR's loiter well.

Comment by Graham Dyer on April 15, 2013 at 9:10am

Ah yes, don't think we have WAAS out here in Africa, perhaps that's why...

Comment by Daniel B on April 15, 2013 at 9:14am

Awesome update Marco. Again your the guru!

I've been getting excellent results with 2.9.1b, notwithstanding that this is my first foray into APM. 

BTW, is 2.9.1b the same as the 2.9.2ß?

If not, is there any chance of getting a copy of the 2.9.2ß?  I'd like try it as well, if possible.

Kindest regards.


Comment by Marco Robustini on April 15, 2013 at 9:33am

No, i use the code in the master branch on GitHub.
Remember: is beta!

Comment by Daniel B on April 15, 2013 at 11:54am

Duly noted. Thanks Marco.


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