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

3D Robotics

Chris Anderson August 5, 2011 at 8:01am

That's an odd one. Try loading a different firmware, such as APM and see if that makes a difference.
3D Robotics

Chris Anderson August 5, 2011 at 7:17am

Rui, every time you change firmware, you should go through the setup process again, including clearing the EEPROM.
3D Robotics

Chris Anderson August 4, 2011 at 2:42pm

Jaan: As mentioned before, in 2.0.38 you've got to arm the motors to calibrate the IMU. That will be changed in 2.0.39, but for now just arm them and you'll be fine.
3D Robotics

Chris Anderson August 4, 2011 at 8:35am

Paul: yes. Z is gravity! (which is an acceleration) If you turn your copter sideways, one of the other accels will show -1000 and if you turn it upside down, the Z will be +1000
Vincent Mees August 4, 2011 at 4:49am

Arm your motors and the apm/IMU will calibrate adjusting the HUD. This is normal with v38 and will be resolved in a next version.
Developer

Jason Short August 3, 2011 at 5:25pm

You need to compile for Heli's. It's not a default option in Arduino. See the config.h file and refine the proper frame type in APM_Config.h
Petroni August 3, 2011 at 11:33am

Can you roll .38 back? If so how? I updated and have some esc arming probs and i'm trouble shooting so I'm not saying it's the update- actually I think its my board, its been through hell...When I get the esc's happy the thing flys fine so far...
Developer

Jason Short August 3, 2011 at 8:54am

Ground start nulls the gyro offsets. Barometer is also calibrated with ground start.
Level is stored during initial setup with the mission planner or in the field by a special Yaw command. It's not initialized with each flight.
The old way of starting required the copter to be still right after plugging in. The new way allows you to init at first arming of the motors.
Jason
mc_don August 3, 2011 at 2:21am

@chris, yes i have mountes my sonar like wiki.

but i have test no sonar, same problem :(
Denny Rowland August 2, 2011 at 10:38pm

I have a rework station plus I have access to the oven at Nicosia Uni. I could even make the entire board there.

The reason that I want a spare board is to make an experimental one with different gyros. It makes sense to use the parts from the damaged one.

I will however also order a new set from you later today.

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