UPDATE:

Please note that the initialization of Gyros was requested to move to the Arming function. This had the unintended consequence of making the Ground Station report erroneous attitude until the unit is armed at least once. This is changed already in the next version 2.0.39 which is still in development. Thanks.

 

This is a nice update and is recommended for everyone. I've gotten a half dozen flight in with it and have had good success. I'll be incorporating some of the ideas mentioned in the suggestions post over the next few versions. 

 

What's new:

I reworked the startup so it's much faster. Also, a feature a lot of folks wanted, calibrating the IMU at first Arming is in there. If you hand launch, please do your first arming of the motors on the ground.

I enabled a mode filter for sonar. Not too thoroughly tested performance wise, but it does work. (note, if you rely on the rangefinder class, you must rework your code to be compatible.)

RTL bugs are squashed and it's flying really well now.

Added a special filter in the PID for the derivative term to get rid of the alt hold and loiter issues from noisy sensors. 

Added a completely experimental mode called circle. It will by default spin the copter in a 10m circle from the point at which it was engaged. And it will Yaw towards that point at all times.

Yaw while navigating happens at quarter speed, which was problematic before.

Roll and Pitch Imax are higher 5° than before (.5°)

Logging seems to work now. Please erase the log after installing.

Everything else is mentioned on the SVN.

 

Views: 2470


3D Robotics
Comment by Chris Anderson on July 30, 2011 at 2:51pm

Sweet RTL. That's the most solid navigation yet. On rails!


Developer
Comment by Max Levine on July 30, 2011 at 3:24pm
NICE !!! :)
I'll try it tomorrow :)
Comment by Paul on July 30, 2011 at 3:57pm
Jason your the best, I'm excited!
Comment by Steven Harsanyi on July 30, 2011 at 4:02pm
I just did a svn update and I cannot seem to compile.

C:\ACM2\arduino022\libraries\AP_RangeFinder/RangeFinder.h:7:67: error: ../ModeFilter/ModeFilter.h: No such file or directory
ArduCopterMega.cpp:65:24: error: ModeFilter.h: No such file or directory

Developer
Comment by Jason Short on July 30, 2011 at 4:05pm
Your going to need to update your libraries if you use SVN.
Jason

Developer
Comment by Jason Short on July 30, 2011 at 4:05pm
Just for proof of repeatability. It did this 5 times in a row with same results.
Comment by Paul on July 30, 2011 at 4:09pm
Quick question. For rtl to work you need a locked off gps first before take off, without the use of mission planner, right?
Comment by Steven Harsanyi on July 30, 2011 at 4:10pm

Odd because the first thing I do is update libraries then the sketch folder.  Been working good this way since the beta started.  I will try a fresh download.


Developer
Comment by Jason Short on July 30, 2011 at 4:13pm
NP, I just uploaded them not too long ago.Oh wait, it's a library update, restart Arduino.

- you need a locked off gps first before take off
Yes, Your first lock will set home. If you arm your copter after first lock you will reset home to the location of the copter. That allows you to reset home to wherever you like.
Jaosn

3D Robotics
Comment by Chris Anderson on July 30, 2011 at 4:14pm

I'm getting a compile error, too: "ModeFilter does not name a type"

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