Ardupilot 2.7 Beta

I was going to call it 2.6.3, but so many changes have been made, updates added, I think it requires a full point. Also, the header file has been streamlined a bit and some defines have changed. The PID gains have not, so if your plane flew well with 2.6 it will fly well, or even better with 2.7. BTW, this is the first release that has only been tested via HIL. I've never flown it for real because of the strong winds in the bay area right now. We'll see, but I think this will be the most stable release yet.

What's changed:

I've included a folder for connecting your ardupilot hardware to X-Plane. There are PNG files showing the configurations to make in the menus.

X-Plane supplies IMU data and airspeed data to Ardupilot so you must select the GPS_IMU option to connect.

New altitude estimation - Thanks to Ryan Beall for this one. This smooths out noisy altitude readings from GPS.

Takeoff and landing are now full features. Their use has been simplified and are assigned full flight modes which can be seen with a ground station.

New Fly by wire throttle command by Christof Schimd.

Updates altitude hold for those with airspeed sensors. Airspeed is now recorded in m/s instead of air pressure value. Since calibration for your particular pitot tube setup could be needed there is now a calibration value in the header file.

Improved stick mixing response for all modes.

Waypoints will be skipped if you miss them after one loop around. The number of degrees can be changed in the code so let me know how many is good.

Loiter hold has been improved.

Cross track gain now on by default.

Numerous bugs are gone.

Old, unused code and vars have been removed. Code has been reformatted and commented.

If you have any issues, please comment here and I'll get them fixed in the final release.

Jason

http://code.google.com/p/ardupilot/downloads/list

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Comments

Developer

Jason Short July 29, 2010 at 8:24am

Gotcha. I'll fix that today.
Developer

Michael Oborne July 29, 2010 at 6:55am

Hi,

I have updated my HITL simulator app to support Xplanes and FlightGear, here are the files you need
http://vps.oborne.me/Ardupilot2Xplanes.exe
http://vps.oborne.me/ardupilot.xml - this file is the FG protocol - copy to C:\Program Files (x86)\FlightGear\data\Protocol
this version also creates KML files of the path flown, they are written on every mode change.. ie auto to manual, auto would be written to a kml.

Michael
Earl July 29, 2010 at 12:54am

OK, just tried r-1237 and in Manual,stabilize,and fly by wire ALL now show double the ALT in the box ALH.
Earl
Earl July 29, 2010 at 12:40am

It is ALH not ATH ....sorry !
Earl July 29, 2010 at 12:38am

ATH is altitude to hold at next waypoint. it is HERE.
Also what variable is SPD ?
You can see in fly by wire ATH is os
in next pic in auto mode the ATH is double the value.
I thought it would be the alt of the next waypoint.
Earl
Developer

Jason Short July 28, 2010 at 10:22pm

Hi Earl,
What's the ATH indicator? BTW, I flew 2.7 today and made some fixes. It's flying very well now.

Absolute waypoints are the only type implemented. Don't bother trying to relative for now.

I've uploaded a new beta in the downloads section for testers to try.

Jason
Earl July 28, 2010 at 6:29pm

Has anyone else noticed that the ATH indicator in the GCS is double when in the AUTO mode ?
Jason, is this a bug ?
Earl
Moderator

Nathaniel Caner July 28, 2010 at 3:34pm

Justin,

It's not available as a zip for download. It's only available in the SVN repository here (http://ardupilot.googlecode.com/svn/branches/ArduPilot_2_7)

Nathaniel
Justin Esher July 28, 2010 at 3:02pm

I can't seem to find 2.7 on the download list. Is it not yet available to the public?
Moderator

Nathaniel Caner July 27, 2010 at 3:12pm

Recmaster,

See my reply to your other post here.

What do you mean "And where was only round moving on runway ... "??

Nathaniel

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