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Arducopter Beta update.

Posted by Jason Short on May 9, 2011 at 10:46am

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Found some good bugs already. An issue with auto trimming being activated due to unusual Radio configurations fixed. Mavlink support is now up to par with APM. and A compass bug in the library squashed.

 

I revved the firmware's EERPOM fingerprint. You must redo the setup completely. (except ESC calibration.)

 

Thanks for the feedback!

Jason

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Comments

  • Taylor Cox May 12, 2011 at 7:06pm
    What value should I increase or decrease for a tighter altitude hold?
  • Developer
    Jason Short May 12, 2011 at 4:19pm
    Home position is set at 3D lock in the field.
  • Developer
    Jason Short May 12, 2011 at 4:18pm
    Nigel, please post your logs for me to look at your yaw behavior.
  • Developer
    Jason Short May 12, 2011 at 4:16pm
    No. We are phasing out the Dip switches. They are big and prone to error.
  • Taylor Cox May 12, 2011 at 3:54pm
    Do the DIP switches on the IMU currently do anything? Should they be in any certain position?
  • Taylor Cox May 10, 2011 at 5:38pm
    Ok. I am ready to test auto and RTL. I just recently tried RTL and the copter zoomed off going somewhere so I switched back to stabilize. So to set the home position do we just set it in the mission planner on the map and then do we have to re-upload the code? Basically how do we get waypoints and our "home" set in the mission planner? Do we always need to re-upload the code every time we change a mission?
  • Developer
    Jason Short May 10, 2011 at 1:35pm

    You need to pick your kP based on the power of your copter.

    the purple engines Jani sells work well with kP of .75  but many kP values would work. kP is not that big of a deal. It's merely how much power you want to go to the engines for rotating. Faster engines might want a lower kP. 

    I suggest setting this in your AP_Config.h

     

    #define CHANNEL_6_TUNING CH6_STABLIZE_KD

     

    This will let you fly and interactivly change kD.

     

    A low kD value will be very sloppy

    A high kD will be very sluggish

    A kD that is way too high will oscillate.

     

    There is a test called test_tuning in the CLI that will output the correct value once you've confirmed it flies well.

     

    Jason

     

  • emile May 10, 2011 at 1:25pm
    @Jason based on your experience, what is the best method to tune these PIDs?
    Shall we concentrate on the Stabilize Damp as suggested in the wiki?
    It would be nice if you can give us a little tutorial so we can "spread the word" :)
    Cheers, and again impressive work!
    Emile
  • Vincent Mees May 10, 2011 at 1:22pm
    I'm having the same issue. Even with GPS lock no data.
  • Peter Seddon May 10, 2011 at 1:14pm
    Have you got GPS lock Nigel. On the ArdupilotMega you don't get GPS co-ordinates translated until you've got lock.

    Peter
This reply was deleted.