3d Printing Service
Printing 3d Forum
Started by Tony Campbell, Sunday,August 18, 2013, 09:43:15
Quote from: Hands0n on Sunday,August 18, 2013, 19:55:37 I had to get radical with the PID though - started off at 0.1500 and now got it down to P = 0.0572, I = 0.0256 and D = 0.0040
QuoteWarning #1: Compass calibration and reducing interference is far more important than with 2.9.1bWarning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).Warning #4: loiter turns does not maintain altitude. This bug will be fixed in AC-3.0.2.Warning #5: This release has only been lightly tested on Traditional Helicopters.Improvements over 2.9.1b include:Inertial Navigation for Loiter and Auto meaning much more accurate control (Randy,Leonard,JonathanC)3D navigation controller follows straight lines in all dimensions between waypoints (Leonard,Randy) WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions"compassmot" to compensate for interference on compass from the pdb, motors, ESCs and battery. (Randy,JonathanC) (Set-up video here)Safety improvements:simple Tin Can shaped Geo Fencepre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero). (video description here)GPS failsafe - switches to LAND if GPS is lost for 5 secondsstability patch improvements to stop rapid climbs in very overpowered or overtuned coptersCircle mode improvements including "panorama" when CIRCLE_RADIUS set to zero (Randy,Leonard)SONAR_GAIN parameter added to allow better tuning of sonar surface trackingCH8 auxiliary switch (same features as CH7)works on PX4 (some minor features still not available) (Tridge,PatH)
Quote from: Hands0n on Sunday,August 18, 2013, 21:32:12 Also the page advises: Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Quote from: Hands0n on Monday,August 19, 2013, 11:15:07 What was I thinking?
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