Nah, it’s OK. I’ve been around the block a few times, and just didn’t want to hijack this thread too much.
A couple notes on my alt_hold performance. First, I am able to get the responsiveness I want by increasing PSC_JerkZ from 0.005 to 0.050. That was all new to me. I’m still getting some wandering in altitude, but Leonard suggested it’s probably a divergence between the EKF altitude estimate, and the vertical velocity estimate. I think it is probably true. I had looked at the logs and saw some stuff that didn’t make sense, and I think that explains it. I didn’t realize that the EFK’s published position and velocity values could be incongruent.
All of this is still besides the issue of that error I got and the rapid throttle thing.
We’ve just re-released Copter-4.6.3 after discovering a slight mistake in the version information which caused the release to appear as a “beta” instead of “stable” release.
There’s no functional change and most people won’t notice any difference but if you look very closely you may notice that soon after startup, the “githash” will have changed from 3fc7011 to 92b0cd7
I just updated from 4.6.0 to 4.6.3 and noticed something.
In 4.6.0 there’s: AHRS initial orientation fixed when autopilot mounted in non-default orientation
Since my board is mounted upside down, when I boot 4.6.3 it initialized as upside down, then wait a couple seconds and slowly AHRS rotates to correct orientation. This was the case with 4.5.x and older, not with 4.6.0. I have not tested with 4.6.1 nor 4.6.2
I’m not complaining tho, it still flies beautifully. Just curious what makes the changes.
Thanks for the report. I’ve added it to the 4.6 issues list. We’ve discussed this issue before and I’m surprised to hear of any change in this area between 4.6.0 and 4.6.3 but we will look into it, thanks!
Txs again for the report. BTW, I tested 4.6.0 and 4.6.3 and both show the same behaviour so I suspect during your testing you might have just missed the roll over because it happens quite early.
BTW it’s an existing issue but we discussed it again at the weekly dev call and there’s a good chance that we will try again to resolve the issue.
I just tested both 4.6.3 and 4.7 in the simulator and they work although there is a small issue.
It looks like in the other thread you haven’t provided an onboard log. If you can provide an onboard log I suspect we can figure out what the issue is.
I wait for 4.7, then with the 4.7 stable if remain the problem I test and write.
edit: you are very gentle, for me is very hard the enghish language and all the controlling in the past; as I posted today in the other discuss, I noted now that in the old firmware 4.5.X there were the PTUN, while upgrading to 4.6.X there is no PTUN so the flight controller cannot run the WP SPEED regulation! it took me about half a day to understand
remain to me understand if the problem is me or other, I didn’t change parameters, only I upgraded
Thanks for the log and I agree that it looks like the Ch6 tuning of WP Speed is not working despite the parameters being setup correctly. The vehicle is maintaining a steady speed of 9m/s (shown in greeen) which is the WPNAV_SPEED param value instead of obeying the ch6 position (shown in red).
I’ve also tested both 4.6.3 and 4.7.0-dev in the simulator and confirmed they are working correctly.
My next guess is that there’s some kind of performance problem on the autopilot which is stopping some processes from running. I see you’re using an mRoControlZeroClassic which I think has an H7 processor. If that’s correct then a performance problem is unlikely.
I’ve spent quite a lot of time on this for now so I’ll need to move on but I’ve added it to our 4.6 issues list so it will be discussed at next week’s dev call.
BTW, I agree the missing PTUN log message is suspicious and this adds to the evidence that something is stopping the tune feature from running
many thanks to all, I apologize, it works perfectly in flight; the problem was that after the update there was no 219, then I only tried on the ground, and while before the parameter changed, now with 4.6 the WP SPEED parameter does not change on the ground, however in flight it works perfectly.
Yes, I want loiter speed. Mission planner has option TUNE = 60, but I do not see it on documentation page, and looks like it is not working - not changing loiter speed, at least not during flight.
. AP Internal governor pretty spot on (1520rpm setpoint) with the new ESC!