Today I had my second test flight with the latest Firmware.
The results are incredible. The quad was very stable and solid also on very hard manouvres.The improvements are beyond my expectations.
You judge:
The Board tested was the VRIMUFULL with the MP32V3F1 and the BMP085 barometer.
Recent changes include:
- Updated default values for Stabilization
- Changed main loop timing.
- Fixed a memory bug.
This is the port of the Arducopter 2.6 firmware. Thanks to the original developers.
Still ALT_HOLD and GPS must be improved.
To choose your board in the config.h fie you have these options
(please comment with // what you don't need):
BOARD selection:
#define CONFIG_APM_HARDWARE MP32V1F1 //old board (rev. 1)
#define CONFIG_APM_HARDWARE MP32V3F1 //new board
GYRO and ACCELS selection:
#define INS_VRIMUFULL //standard sensors
#define INS_MPU6000 //new MPU6000 sensor
BAROMETER:
#define CONFIG_BARO AP_BARO_MS5611 //new barometer
#define CONFIG_BARO AP_BARO_BMP085 //old barometer
SENSOR BOARD:
#define CONFIG_MAG MP32NAVYSENSOR //standard board
#define CONFIG_MAG MP32NAVY2012 //new board with GPRS and dataflash
Once uploded please follow these steps:
1. In CLI mode SETUP --> erase and Reset.
2. Calibrate Radio
3. Calibrate compass by arming (without propellers!) and turning the copter on all axes.
4. Level and check that all variables are consistent.
The default parameters are based on my quad and my experience.
Please tune for your copter.
This firmware was tested with VRIMUFULL + MP32V3F1 + MPU6000 and VRIMUFULL + MP32V3F1 + STANDARD SENSORS
https://www.youtube.com/watch?v=SczauszAlbA
The last revision of code is available here :
http://code.google.com/p/multipilot32/downloads/detail?name=vrobotix-ide-0.0.5.5.2.rar&can=2&q=
This is orginal blog post by Emile on virtualrobotix :
http://www.virtualrobotix.com/profiles/blogs/latest-firmware-test-0-0-5-5-2
http://www.virtualrobotix.com/profiles/blogs/latest-firmware-test-0-0-5-5-2
Comments
Great news Roberto
Hi Danilo, Thanks Marco,
I have a good news for you , yesterday we finish the port of all code developed for MP32F1 to MP32F4 , so now all work doing on 103 in last year is available also on STM32F407 ... the discovery Board Micro ... :) So you can use it also for your discovery board or on a new MP32F4+MPU6000
Michael, is a X468 frame with a few modifications.
All arms are done by me and I used a thrid plate to cover the escs and power distribution board.
Cheers,
Emile
Superb! :-)
Avanti così ragazzi!!!
Robero, thank you for your reply. Now it's clear.
I'm also working on the autopilot based on ARM (STM32F103), it has MPU-6000 too. I've already finished the code with internal DMP. Going to make the first flight soon, now I'm testing it in my hands, works pretty good.
I'll make a post about it after flight.
what frame and landing gear is that.
Mike
Fantastic! ;)
Hi Danilo ... on our repo the lib for F4 growing day by day check this thread : http://www.virtualrobotix.com/forum/topics/multipilot32-v3-f1-f4-an...
Keep in touch with me and Alberto for understand the status of work on F4. the MP32F4 hardware is yet available for dev and use NAVY 2012 . So all is ready for the first flight only some work on the code and then start first flight :)
If you want join to dev group of F4 you are welcome :)
Emile and Roberto, very good work !!
These are the flight results that you must have an ARM.
Soon I'll try to write my own code for the STM32 F4 discovery board.
Danilo
very impressive
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