Arducopter Beta 2.0.38

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.

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Comments

Jim Phoenix July 30, 2011 at 9:11pm

Yup, mounted my sonar on an arm last week, didn't see improvement - but I've not had sonar problems before loading 2.0.037. Haven't done the shielded wire yet. I'm seeing funny noise on the baro in test, sonar looks very steady, but baro is very unstable in test on the terminal (sitting on the desk here inside, it's showing +20cm to 85cm to -37cm back and forth), so I suspect it's impacting the sonar at "medium altitudes". At low 2m or less, sonar hold is OK, at baro altitudes, alt hold is simply inop, just doesn't exist, that's why I suspect a baro sensor problem, will know more tomorrow.
3D Robotics

Chris Anderson July 30, 2011 at 9:01pm

Jim, if you're using a sonar sensor, you'll definitely want to mount it on an arm as shown in the manual. It makes a HUGE difference.

http://code.google.com/p/arducopter/wiki/AC2_Sonar
Jim Phoenix July 30, 2011 at 8:57pm

Planner loaded 2.0.38 for me at 1600 pacific time today.
Jim Phoenix July 30, 2011 at 8:56pm

Right, your videos show excellent performance, I'm seeing really good response in loiter with no overshoots, just gotta sort the alt hold, I'm convinced it's something in my configuration, maybe a sense problem, gonna swap imu boards and fly it again tomorrow.
Developer

Michael Oborne July 30, 2011 at 8:53pm

The Planner will be up to date soon. just sorting out the sketchbook library problems
Developer

Jason Short July 30, 2011 at 8:51pm

Be sure to cover it with some open cell foam. I'm having really nice luck with it now.

Jason
Jim Phoenix July 30, 2011 at 8:33pm

2.0.38 working nicely for me, big improvement in loiter, never seen it so good on my machine. Flew it 4 batteries, about 45 minutes so far, pods seem real good, no adjustents at this point. Gotta figure out why my baro hold is noisy, I think it's the sensor.
Helldesk July 30, 2011 at 8:21pm

Yes, doing that now. I just meant that APM Planner already talks about 2.0.38 but uploads 2.0.37. :-)
3D Robotics

Chris Anderson July 30, 2011 at 7:47pm

Helldesk: it's not in the planner yet (we like to get some beta testing feedback before we push the hex to everyone). Download it at the link above and use Arduino to load.
Helldesk July 30, 2011 at 7:40pm

Odd, just downloaded and attempted to update to 2.0.38 via the planner - but my APM says it is still 2.0.37 in CLI. I believe it too because there's no Circle mode available.

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