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Old Jan 12, 2013, 04:04 AM
James not bond
jy0933's Avatar
United States, MN, Minneapolis
Joined May 2012
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the constrain is not the holes.. the space..
not big prob.. if there is not such thing in mpng.. i might just grab a new board then
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Old Jan 12, 2013, 04:07 AM
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Romania, Dolj, Craiova
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Quote:
Originally Posted by renatoa View Post
What means "moved Roll-Pitch I terms from Stabilize controllers to Rate controllers" in 2.8R3 ?
Bump...
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Old Jan 14, 2013, 04:18 PM
Aleksey Kharlanov
Беларусь, Минская область, Минск
Joined Sep 2011
703 Posts
Porting of ArduCopter 2.9-rc4 almost done. I'm looking for Beta testers!

The MPNG 2.9 R1 (available via SVN) has new FAILSAFE feature:
If your receiver stops to send signal to the board(i.e: Link loss, Power failure), than FAILSAFE will trigger and throttle channel will set to 950, pitch, roll and yaw will set to 1500. Throttle value of 950 will trigger ArduCopter FAILSAFE (Do not forget to enable it in the Mission Planner)
In case if your receiver has own FS, you must read ArduCopter manual how to adjust you RC to tune FS.

Of course there is lot of enhancements in original AC code:
------------------------------------------------------
Improvements over 2.9-rc3:
1) Smoother transition between manual and auto flight modes (Leonard)
2) bug fix for LAND not actually landing when initiated from failsafe (Randy/Craig)
------------------------------------------------------------------
ArduCopter 2.9-rc3 11-Jan-2013
Improvements over 2.9-rc2:
1) alt hold with sonar improvements - now on by default (Leonard/Randy)
2) performance and memory useage improvements (Tridge/Randy)
3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold (Randy)
4) bug fix: altitude error reported to GCS (Randy)
5) limit inertial nav's max accel offset correction to 100cm/s/s to speed up recovery after hard impacts (Randy)_
6) moved rate controllers to run after ins read (Tridge/Randy)
------------------------------------------------------------------
ArduCopter 2.9-rc2 31-Dec-2012
Improvements over 2.9-rc1:
1) increased throttle rate gains from 1.0 to 6.0
2) APM1 fix so it works with inertial nav (5hz update rate of baro was beyond the tolerance set in the inav library)
------------------------------------------------------------------
ArduCopter 2.9-rc1 23-Dec-2012
Improvements over 2.8.1:
1) altitude hold improvements:
a)inertial navigation for vertical axis [Randy/Jonathan/Leonard/Jason]
b)accel based throttle controller [Leonard/Randy]
c)accelerometer calibration routine updated to use gauss-newton method [Randy/Tridge/Rolfe Schmidt]
d)parameters to control climb rate:
AUTO_VELZ_MIN, AUTO_VELZ_MAX - allows you to control the maximum climb and descent rates of the autopilot (in cm/s)
PILOT_VELZ_MAX - allows you to control the maximum climb/descent rate when in alt hold or loiter (in cm/s)
2) landing improvements [Leonard/Randy]
LAND_SPEED - allows you to set the landing speed in cm/s
3) camera related improvements:
a) AP_Relay enabled for APM2 and integrated with AP_Camera [Sandro Benigno]
b) camera trigger with channel 7 switch or DO_DIGICAM_CONTROL mission command [Randy]
c) allow yaw override by pilot or with CONDITIONAL_YAW command during missions [Randy]
YAW_OVR_BEHAVE - Controls when autopilot takes back normal control of yaw after pilot overrides (0=after next wp, 1=never)
4) trad heli improvements [Rob]
a) code tested and brought back into the fold (2.8.1 was never released for trad helis)
b) enabled rate controller (previously only used angle controllers)
c) fix to rotor speed controllers - now operates by switching off channel 8
d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode
e) removed angle boost function because it created more problems than it solved
f) bug fix to allow collective pitch to use the entire range of servos
5) mediatek gps driver improvements [Craig]
a) added support for 1.9 firmware
b) bug fix to start-up routine so sbas can be enabled
6) failsafe improvements (both throttle and battery) [Randy/Craig/John Arne Birkeland]
a) RTL will not trigger if your throttle is zero - reduces risk of accidentally invoking RTL if you switch off your receiver before disarming
b) failsafe triggered in unlikely case of a PPM encoder failure
c) bug fix to resolve motors momentarily reducing to zero after failsafe is triggered
7) mpu6k filtering made configurable and default changed to 42hz for copters [Leonard/Tridge]
8) support ppm sum for transmitters with as few as 5 channels [Randy/John Arne Birkeland]
9) acro trainer - copter will return to be generally upright if you release the sticks in acro mode [Leonard]
ACRO_BAL_ROLL, ACRO_BAL_PITCH - controls rate at which roll returns to level
ACRO_TRAINER - 1 to enable the auto-bring-upright feature
10) other changes and bug fixes:
a) allow >45 degrees when in stabilize mode by adding lines like below to APM_Config (compile time option only) [Jason]
#define MAX_INPUT_ROLL_ANGLE 6000 // 60 degrees
#define MAX_INPUT_PITCH_ANGLE 6000 // 60 degrees
b) bug fix to stop RTL from ever climbing to an unreasonable height (i.e. >80m) [Jason]
c) event and state logging [Jason]
d) allow cli to be used over telemetry link [Tridge]
e) bug fix to allow compass accumulate to run when we have spare cpu cycles [Randy]
f) bug fix so do_set_servo command works [Randy]
g) bug fix to PID controller's so they don't calculate crazy D term on the first call [Tridge]
h) bug fix to initialise navigation parameter to resolve twitch when entering some navigation modes [Jason]
i) performance improvement to copter leds - use DigitalFastWrite and DigitalFastRead instead of native arduino functions [Randy]
j) removed unused stab_d from roll and pitch controller [Jason]
k) bug fix for guided mode not reaching target altitude if it reaches horizontal target first [Randy]
l) code clean-up, parameter documentation improvements [Randy/Jason/Rob/others]
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Old Jan 14, 2013, 05:26 PM
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Germany, NRW, Dusseldorf
Joined Jun 2010
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That was fast, Sir! Thx.
Looking forward to try out whatever you share with us.

Will 3.0 be it then?
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Old Jan 14, 2013, 05:49 PM
James not bond
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United States, MN, Minneapolis
Joined May 2012
2,074 Posts
i'm in... getting my hands on them tonight

is filtering only for mpu6050 or for all sensor/boards?
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Old Jan 18, 2013, 04:39 PM
Registered User
Brazil, São Paulo, Sao Paulo
Joined Nov 2011
50 Posts
I'm using megapirateng SVN HEAD and my hexa only starts 4 motors. connections is ok, my ESCs is ok. works fine on 2.8.x.

motors that does not start:
FRC - D7
BLW - D8
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Last edited by trunet; Jan 18, 2013 at 08:44 PM.
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Old Jan 20, 2013, 05:34 AM
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Quote:
Originally Posted by trunet View Post
I'm using megapirateng SVN HEAD and my hexa only starts 4 motors. connections is ok, my ESCs is ok. works fine on 2.8.x.

motors that does not start:
FRC - D7
BLW - D8
For me the same on Crius V1.0
Hexa, Octo, Octo_Quad doesn´t work.

Gimbal Servo on Pin 44 seems to be mixed up with throttle input.
For me it looks like output to pins are messed up.

I also noticed, that the voltage reading in mission planner doesn´t work correct, while output to Frsky Telemetry has no problem.
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Old Jan 20, 2013, 05:10 PM
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Brazil, São Paulo, Sao Paulo
Joined Nov 2011
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I think the problem is on AP_Motors library. It removed AP_MOTORS_PIRATES on 2.9 merge commit.

I don't know the best way to handle it so I'll leave it to you. I fixed mine doing this:
- on AP_Motors.cpp, I commented lines 60, 62, 63 and 64.
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Old Jan 20, 2013, 07:45 PM
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Thank you trunet. Motors are running now.
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Old Jan 20, 2013, 09:15 PM
James not bond
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United States, MN, Minneapolis
Joined May 2012
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@Alex

was arduplaneng mixed into mpng?(i read it from somewhere) I dont really see any airplane setup in mpng...
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Old Jan 21, 2013, 12:45 AM
Aleksey Kharlanov
Беларусь, Минская область, Минск
Joined Sep 2011
703 Posts
Quote:
Originally Posted by trunet View Post
I think the problem is on AP_Motors library. It removed AP_MOTORS_PIRATES on 2.9 merge commit.

I don't know the best way to handle it so I'll leave it to you. I fixed mine doing this:
- on AP_Motors.cpp, I commented lines 60, 62, 63 and 64.
Arghh.... My bad. I'm just overwritten motors files and forgot my changes in it.
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Old Jan 21, 2013, 01:21 AM
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Romania, Dolj, Craiova
Joined Sep 2007
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Quote:
Originally Posted by jy0933 View Post
@Alex

was arduplaneng mixed into mpng?(i read it from somewhere) I dont really see any airplane setup in mpng...
Nope, there is a separate arduplane build for Crius board.
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Old Jan 21, 2013, 03:49 AM
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Quote:
Originally Posted by renatoa View Post
Nope, there is a separate arduplane build for Crius board.
Can you post a link for this please
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Old Jan 21, 2013, 04:35 AM
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Here is the thread on this subject, and, yes, jy was right, arduplane is now a branch of mpng !
You have all info/links there
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Old Jan 21, 2013, 08:54 AM
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Brazil, São Paulo, Sao Paulo
Joined Nov 2011
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Quote:
Originally Posted by Sir Alex View Post
Arghh.... My bad. I'm just overwritten motors files and forgot my changes in it.
Why you didn't port AP_HAL library?
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