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
Comments
Our standard PID loop doesn't take into account the Sensor data for D term.
This was Jose's original approach. Technically, it's a standard PID loop. Rate can be derived from a saved angle, or directly from the sensors. The reality is that we could use the saved rate and make it 100% standard. But it's not worth changing because we also use some nice constrains in there too.
@Magellan, thanks for the answer. I was used to the always there "408" value. So I bet this is a 1G pulling down just a matter of showing it in a different way (maybe makes more sense now :))
Ok, so here is another Q.
In the PIDs D is a real D or is it the P-Rate as for the former AC?
Cheers,
Emile
Why is the Z Accel now showing -1000?
Is this the normal behaviour?
If I move the copter everything seems fine, the data moves accordingly.
Pitch and Roll - gyro stabilized with control mixing
Quick and dirty stabilization
I can tell you right now the camera stabilization works well. I had to make a couple of small tweaks to the math, and it's probably not the right way to do it, but I'll send it to you.
APM_config.h is the place to add the defines. compass.h has all your options.
for example:
#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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