Plane 3.9.1beta release

ArduPlane Plane 3.9
3

Hi Tridge
Awesome work with the new version, blheli pass-through updates are especially welcome.
I am having some trouble with getting the DO_VTOL_TRANSITION way-points to work properly though, when I program a transition from fixed wing to mc, the aircraft does a very aggressive stop before hovering back towards the previous way point.
Tlog here so you can see exactly what I mean https://drive.google.com/file/d/1B_uyg_347tCGKlTB_gRE7Kr-EBryIWBa/view?usp=sharing

4

more tailsitter stuff for you

5

Awesome job as usuall Tridge

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In 3.9.1 beta, disarm made full throttle !
On Chibios on Omnibus F4 pro v3 + Dshot 600 blheli S (Racerstar v2 40A) and bidirectionnal motor enable.

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Log available here with full thr when disarm
00000002.BIN.zip (550.1 KB)

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Ok found ! Arming require to 2 solve the problem. Forgot to adjust rc3 min and trim properly but reverse thrust was rewrite ? Ch3 percent output looks different !
Reverse -100 to 0 = 0 to 50%
Normal 0 to 100 = 50 to 100%

Edit : solved wrong params

9

ArduPilotPlane
ArduPilotPlane.jpg750×291 33.1 KB

I’ve now released 3.9.1beta2. This is a the second beta for the 3.9.1 release, which is a minor update over 3.9.0. This release includes the following changes:

  • increased default buffer sizes in dataflash for some boards

  • fixed a bug with small dataflash buffers

  • updated OSD with new items: hdop, temperature, waypoint, xtrack, flight distance, flighttime, efficiency (thanks to Hwurzburg, vierfuffzig and sh83).

  • reduced memory usage in serial buffers

  • adjusted some default parameters to give a better first flight experience for more users.

The default parameter changes are:

  • RLL2SRV_P from 0.6 to 1.0
  • RLL2SRV_I from 0.1 to 0.3
  • RLL2SRV_D from 0.02 to 0.08
  • PTCH2SRV_P from 0.6 to 1.0
  • PTCH2SRV_I from 0.1 to 0.3
  • PTCH2SRV_D from 0.02 to 0.08
  • TECS_PITCH_MAX from 0 to 15
  • NAVL1_PERIOD from 20 to 17

The PID parameter changes won’t affect anyone who has done some tuning, but will make the first flight experience for a new user be alot better for nearly all aircraft. Paul and I decided on the values based on experience with users flight logs, plus the experience users have had with AUTOTUNE mode.

Please report testing results!

Happy flying

5 Likes
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Cannot arm in 3.9b2 because the Bad Logging error.
Omnibus F4 PRO V3
Terrain Disabled.
LOG_BACKEND_TYPE=1
LOG_BITMASK =65535
LOG_FILE_BUFSIZE=4
Reformat SD with 2 passes

Can ignore logging in arming check and fly it?

11

QStabilze/Hover/Tranistions and FBWA works well on the tricopter vectored VTOL

Regards Rolf

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Rolf, do you have better control in LOITER?

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I think you mean QLOITER ?
QSTABILIZE and QHOVER works well. I can test QLOITER this afternoon (UTC-TIME).

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Sorry , I wanted to say QLOITER

“It is the new loiter controller from Leonard, inherited from the copter code. It does a better job of smoothing out transitions, as well as providing better pilot control in QLOITER mode.”

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Was this a problem in the first beta?

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QLOITER with 3.8.5 does it perfectly. But this week I will install 3.9.1 and try again to see differences and I will also comment.

Regards
Atico

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Stable “Q_Loiter” with this beta…

2 Likes
18

What is this new bar on HUD? FC temp?

hud

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FW 3.9.1 beta2 CHIBIOS >>> transitions & Qloiter OK

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Hey @tridge I dropped 3.9.1 beta2 on a pixhawk1 last night and noticed it overwrote my PIDs to the new defaults from what they were before. I thought this was only supposed to happen when it was a fresh install? Did I misunderstand?

edit: Disregard, it looks like my PIDs got reset to default sometime ago. I wonder if this happened during 3.9.0 beta testing. I have no way to verify because logs prior to that got wiped, so, let’s just not worry about it.

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it only does that if you haven’t changed the values from the defaults.
Cheers, Tridge

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ArduPilotPlane
ArduPilotPlane.jpg750×291 33.1 KB

I’ve just released 3.9.1beta3. This is the third beta for the 3.9.1 release, which is a minor update over 3.9.0. This release includes the following changes:

  • fixed a critical safety issue found by Oliver Volkmann, and fixed by Michael du Breuil. The problem could lead to quadplane motors starting on reboot

  • fixed a bug where RC failsafe could lead rudder input stuck at the last rudder input value in some modes. Thanks to Michael du Breuil for the fix

  • raised OSD thread stack size to 1024 (needed for new OSD items)

Thanks to everyone who is testing the 3.9.1beta series!