3d Printing Service
Printing 3d Forum
Started by Jumpy07, Sunday,December 23, 2012, 13:55:20
QuoteAC2.9 Release candidate #3 is out in the downloads area. The biggest change should be for APM1 users because we increased the speed of the baro updates and also added some performance improvements. The other big change is that "surface tracking" is now on by default for people with a sonar enabled. When a pilot is flying Alt-Hold or Loiter, when we first detect an object below the copter we grab onto it';s distance and for as long as we maintain sonar contact we try to stay at that distance. If we lose sonar contact completely we just stick at our current altitude. This surface tracking is not used in auto missions.In general we hope this works better than the blended sonar+baro altitude hold we had in 2.8.1 because it will allow you to climb hills or flights of stairs even if that takes you far above your home altitude. Still, it could lead to some unexpected behaviours..for example if your friend hovered a quad below your quad as he/she adjusted his altitude your copter would also move up and down. If you fly overtop of a tree you may also find that your copter jumps up and down as it detects the different heights of the branches.Ah, the sonar is also used when landing so if you go into LAND mode above a roof for example, you should do a gentle touch-down on the roof. List of changes over 2.9-rc2:1) alt hold with sonar improvements - now on by default2) performance and memory useage improvements3) increase APM1 baro pressure read from 5hz to 8.3hz to improve alt hold4) bug fix: altitude error reported to GCS5) limit inertial nav';s max accel offset correction to 100cm/s/s to speed up recovery after hard impacts6) moved rate controllers to run after imu read
QuoteArduCopter 2.9-rc4 12-Jan-2013Improvements over 2.9-rc3:1) Smoother transition between manual and auto flight modes2) bug fix for LAND not actually landing when initiated from failsafe
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