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Arducopter Beta update.

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

3689405810?profile=original

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

  • Nigel May 15, 2011 at 3:54am
    Sorry, if you replace the space in the filename with an underscore it works.
  • Nigel May 13, 2011 at 1:48am
    Hi Jason, log as requested here
  • 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?
  • Nigel May 12, 2011 at 2:59am

    Some testing info In case it's useful:

    I have just updated to the latest HK_GCS and AC2 beta firmware (loaded using AMP as at 09:00GMT 12 May 11 onto my '+' 1280b Quad).  Here are the results:

    1. I'm not getting GPS data over the 2.4GHz XBee comms, just some servo data.  To be rather unscientific, the data does not appear to be coming over as quickly as it was with the last version.  Data via the USB port is fine. A working GPS downlink still eludes me...

    2. I reduced the NAV P settings from 2.5 to 2.  In loiter I am current getting better holding over a point (but the wind has eased off so I don't know if that is what has made the difference).

    3. I still have the rather weird and lazy yaw control in 'Stabilize' mode but it's flyable.  I haven't really been flying around in other modes so I don't know if it's the same with them.

    4. In 'Loiter' there is a fairly strong vertical oscillation over the GPS-held position of about 5-10m.  I suspect fiddling with a P value will sort this out - I'll give it a go later today.

    5.  When I turn right I get a short burst of power, I think as the stick is returned to the neutral position.

    That's all for now.

  • 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?
  • CyborgCNC May 10, 2011 at 2:46pm

    Hi Team....first GREAT WORK!

    I just wanted to add an observation, on flying the code.....First, the default PID values (and I am only currently working in STABILZE mode) seem to work well, in fact, I had to lower them.  I got my quad to fly stable with only a .2 for the P, .1 for the I, and 0 for the D (on all, roll/pitch/yaw).  Now, wanting to tune it a bit, I used a D for roll and pitch of .1, to see the effect.  WILD oscillations, and I mean WILD!.  So I lowered...tried .05...not much better.  Went down to .01, and it was flyable again....but was still oscillating a bit.

    As such, I came to the conclusion, that even a VERY low D, for roll and pitch, induced instability in my quad, to the point where I left it at 0.  It is now quite stable, I have to say, and flies MUCH better than the Ardupirates code...In that code, I have oscillations on a fast descent...these are no longer there with this code.

    I will be doing more tests, with more of the modes, and report back, posting issues as well on the code page if I find any, but I wanted to post this, in case someone else has seen similar results, when using a D value, other than zero..

    I also have not tried any of the other modes, but will do that as well....Darn work!  :-)

    GREAT WORK Jason and TEAM!!

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