Thanks for the info!
So Bendy Ruler will be more effective with a 2D Lidar as compared to when using a 1D Lidar right?
And having Dijkstra dodging no fly zones …if these (no fly zones) are known before hand couldn’t we just plan the auto mission accordingly? Please provide your insights I think I don’t know the whole picture here.
Also found the instructions for interfacing WS2812 in the Copter wiki - great!
Will get straight to testing!
Yes, that’s right on all counts. BendyRuler will work better with a 2D lidar. Dijkstra’s should work better than BendyRuler if the situation allows the user to define the places to avoid by setting up no-fly zones.
Great that you found the neopixel wiki.
Great! Thanks for the help.
Flied several hours, no issues on my setup, except the yaw performance.
After succeeded autotune the yaw control was very, very relaxed, almost unusable.
I found that the ATC_ACCEL_Y_MAX was tuned down to 13000 while wiki says [9000 - very slow, 18000 - slow]
So I just copied my Yaw parameters from Copter3.6 params file and that generally fixed the problem.
But there is still sporadic issue when I descend quickly (ThrO is low) then vehicle losts it’s yaw control and turning left and right to a teens of degrees. I will double check my parameters one time but I don’t understand the root cause at moment.
I flew a pair of AutoTunes today, and upon reviewing logs, I stumbled on a never-seen-before event “Autotune Reached Limit”. It happens twice during each autotune.
Congratulations to the arducopter team,
I made a test flight today, while doing the flight I could observe some problems, such as altitude retention, which is not accurate when it receives the impact of the wind, so I decided to play with the following parameters:
With these values I get bad altitude retention
PSC_ACCZ_FLTD = 20 by default
PSC_ACCZ_FLTE = 0 by default
PSC_ACCZ_FLTT = 10 by default
With these values I get better altitude retention, but not as good as in copter-3.6.
PSC_ACCZ_FLTD = 40 value used in the flight shown.
PSC_ACCZ_FLTE = 40 value used in the flight shown.
PSC_ACCZ_FLTT = 40 value used in the flight shown.
Another problem observed is, a bad yaw control when the drone descends very fast
So I took a look at the following parameters: I think some things changed here.
ATC_RAT_YAW_FLTD = 0
ATC_RAT_YAW_FLTE = 5
ATC_RAT_YAW_FLTT = 20
Tomorrow I will try to play with those values.
Hi @sergbokh,
When using the same tuning parameters as the previous version do you see the same issue?
Thanks all very much for the feedback. Remember to feel free to start a new topic and as always a dataflash log is really helpful when reporting issues.
Can you give me the parameters for 4.0.0 before you changed them?
Could everybody please NOT change their parameters after updating from 3.6.7.
The only thing that has changed that should impact the tune are the FLTT parameters. This parameter should only reduce the noise in the system so we do not expect it to change the tune.
We want to ensure that the parameter conversions are working correctly and we have not missed anything.
Same issue hex also my Y-6B tends to drop a little in GPS lock like the video posted above. Normally not an issue. However i figured i just had not flown the Hex to get it used to the air temp. But it is dropping a tad worse when windy…
I am having an issue getting the copter to arm. On the ground control station it is telling me that the compass is not calibrated. I have posted before on the copter 4 thread but feal this is a better place for the discussion Compass Not Calibrated
Original Param Files
2019-10-26 13-54-06.log.param (15.6 KB)
After Upgrade to Version 4
2019-10-28 09-28-11.log.param (19.2 KB)
Update
Had a new CAM Here 2 GPS which I changed the switch to use Serial GPS and I2C and mounted on the copter and calibrated. The Copter now arms and is flying.
Hi rmackay9,
I try copter 4.0.0 rc1 and when try to activate the optical flow nothing appen.
Not working at all.
Tested with Matek f405 and cx-of sensor.
Could RM3100 support be included in 4.0.0?
It seems that the only missing part is probes for it.
