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.
Comments
I did some more ground testing today. I decided to add modes.
It was found that if the the Altitude mode is engaged while throttle is zero the take off will flip.
No damage done because my hand was holding the frame.
Possibly. If throttle is zero and altitude mode is on do not start motors?
Once in flight the Sonar worked perfect during Altitude hold within 10 inches.
jason...
i can't get good auto level setting on hexa and QC (+) frame
some diffrent code for auto level between ver 37 and 38?
now i just using manual level (disarm 10sec)
thank's
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I'll have that in the next .40 version. I also plan to implement a trig LUT, which should make the cut on the 1280. I have it built already, just need to merge it and convert it to program flash. That one will be really good, I hope.
Will 2.0.39 work with the 1280 ?
I suggest you contact Udrones for a RMA to get it replaced.
As for the gyros, that sounds like more than what the filter pads address. Does this happen all the time? The best way to test is on the bench. In the MAVLink setup tab click on the level button and then check the flight data. It should be rock solid and hardly moving at all. If it's moving, you may have a hardware issue.
Arducopters board works well with many custom frames.
I built one that for now uses wooden poplar sticks.
The CF fiber rod has not arrived and I could not wait.
It works well.
http://vimeo.com/27354040
On this setup the gain had to be increased to .3 the Integral reset is zero so far.
I need to ask if the IMAX degree settings inhibit the integral overthrow?
I will know a little more of what to play with.
Next flight will be outdoors.
Neat system.
Had the first real flights on my quadcopter today using 2.0.38. Everything worked flawlessly except the pilot, who needs some practice (this was my first time flying anything).
Awesome job on the software, and kudos to anyone and everyone who works the documentation on the wiki. I was able to follow along in APM Planner and get everything set up without any confusion.
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