Developer

Ardupilot 2.6.2 Beta

3689358476?profile=original


This beta brings support for the new MediaTek GPS unit. The MTK works great and it's very light.

I've also added some bug fixes including:


  • Auto Trim - (on by default) When you enter any flight mode from Manual, you'll save your current trim values. Great for trimming your plane in the air.
  • FBW issues (turning too much in one direction) caused by incorrect or unset radio limit - fixed with new algorithm
  • Radio Mixing - lowered the mix value for more responsive sticks
Let me know if you have issues, and I'll update the release version.
Jason


E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones

Comments

  • When you crashed, you said you were banking. Did you move from Manual to Stabilize?
    No MANUAL to AUTO but corrected the lateral axes +- 10° out of level before switching to AUTO to see if the Autostart would level the lateral axes when climbing.

    Were you moving the stick at the time you switched into STABILIZE? No.
    Did the plane turn into the ground in the opposite direction? Iit just turned +- 90° down like full push on the elevator.
  • Hi Jason

    I will check on the damage tonight, it does not look so bad.

    ca means circa, aproximatly


    In Version B LOITER performed a rectangle circle. I devided the log files for you for better visibility.

    In version B, Autostart performed with a steep climb first and then with a circling climb. I switched to Auto level. Then afer reaching 50m proceeded to WP 1 and started to do very strange paterns in the area on WP 1 and did NOT proceed to WP 2. After many circles I switched back to MANUAL for landing.

    Version A was very good. AUTO with AutoStart engaged and 30° takeoff performed like AutoStart turned off.
    I thought I can correct that, because takoff angle might be in degrees * 100 and entered 3000 for the next try. Thats where the plane crashed (90° down at switch to AUTO).

    is this clear now?

    The attached files are from version B only.

    APflight_2010_07_11_10_45_07 Autostart Ver B.kml
    APflight_2010_07_11_10_45_07 Loiter Ver B.kml
    bad.ca - This website is for sale! - Bad Resources and Information.
    This website is for sale! bad.ca is your first and best source for all of the information you’re looking for. From general topics to more of what you…
  • Developer
    I had a look at the KML files from the flight, but it's a little hard to interpret. Overall did the plane perform all the functions normally in version B? Did the plane have problems going straight or holding a turn?

    The plane turned slightly in takeoff in version B?

    When you crashed, you said you were banking. Did you move from Manual to Stabilize? Were you moving the stick at the time you switched into STABILIZE? Did the plane turn into the ground in the opposite direction?

    Jason
  • Developer
    Christof,
    Sad to see your plane hurt. Will you be able to re-glue it back together? loose any boards?
    Quick question what's the CA in "CA 5 Meters"
    Jason
  • Admin
    Sorry to see the experimental flight ending in loosing the nose :( ,Hope electronics did not sustain any damage. hope to see you on air soon.
  • Hi Jason
    here my report of today.

    Testflight 11.7.2010
    AP 2.6.2
    RC 1192 with home fix (Version A)
    2.6.2 experimental (Version B)
    IMU V2
    Speedsensor
    Total 2.5 Flights

    General


    1. flight with home fix, missing ";" at line 432 in ArduPilot _2_6.pde, home stored correct the first time.
    Loiter is performed nice and round at wp 1.

    I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. The plane accelerated and did not climb as expected but in a very flat angle to WP1. Same operation as with Autostart = 0. Auto is performed perfect with end Loiter above H



    2. Flight experimental
    Loiter -> strange patern
    I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. Too steep climbing (estimated 45°) at first (set was 33°) nice idea of circling up. Too narrow circles, climbrate fine.
    the following auto flight -> strange paterns over WP1 see log.

    3. flight with RC 1192 and home fix. I was thougth the TAKE_OFF_PITCH 30 might be degrees * 100 so I changed it to 3000 in order to see the difference and make code correction easier.
    I switched to Auto, autostart engaged, while passing in ca 5m above ground heading WP1. I gave 10° bank before switching to auto to test stabilize.
    Switch to auto, plane turns 90° down. End of testflights for a while.


    Conclusion

    1. publish version A with the correction Line 432 as new RC


    2. The Autostart option of the experimental version is nice. I suggest as follows:

    Define

    TAKE_OFF_RUNAWAY && How many meters to accelerate the plane before climb
    TAKE_OFF_WINDUP_RADIUS && Radius of circles to gain altitude
    TAKE_OFF_ALT && Altitude above ground to reach before going to AUTO
    TAKE_OFF_PITCH && Pitch for CLIMBING

    Implement this into (Version A)
    add a ABS(constrain()) min 10°, max 40° for the TAKE_OFF_PITCH for idiots like me.


    Best Regards

    Christof


    APflight_2010_07_11_10_30_29.kml

    APflight_2010_07_11_10_45_07.kml
    ArduPilot_DataLog_2010_07_11_10_38_02.txt

    APflight_2010_07_11_11_02_25.kml


  • Developer
    Hi Dave,
    That sound really cool. Can you run Perl scripts? I could make the easily using Perl.
    Otherwise could we get Labview to read in the scripts?
  • Jason/Earl,
    I mentioned an idea to Chris and the rest a few days ago but didn't hear whether they wanted it. I would like to take the Mega logfiles and play them into the GCS. It would really help in flight testing new code. I'm not a script or parser writer but wondered if you folks could consider it. I don't have any Xbees or want to spend money on telemetry but I would really like to play back a flight. I could then rewind a little, play slowmo, focus on a particular event, etc. What do you guys think?
    DaveW
  • Notice the MTK GPS unit operating ? LAT and LON from IMU using MTK GPS working.
    Alt Crs and Gsd not working yet.
    Manual RTL Auto Loiter messages working also.
    BTW I like the feature in 2.6.2.experimental that when you do a RTL, when it reaches the home position, the GCS indicator goes to LOITER. Nice job.

    IMU Flat and Level

    GCS indicating flat and level.
    I also changed mode to AUTO so WP # and distance changed.
    So did the lat/lon live data from the IMU/MTK.

    I think we are making some progress.
    Earl
  • Here is some pics of my stuff.

    IMU tilted up and to the right

    The GCS showing this.

    Earl
This reply was deleted.