Upgrading firmware to 3.1.5 (Cheerson custom Uart version)

I'm finally upgrading to ArduCopter v3.1.5. VinnieRC took the time to re-compile a custom Cheerson Uart version of v3.1.5. Now, Telemetry/Uart port works on this Cheerson APM_252_v2.0 Flight-Controller. I installed it from MissionPlanner v1.3.27. .

I like v3.1.5 because:
- The major v3.1.2 "randomly kill throttle in flight" bug is fixed (yes, I've experienced it)
- Terminal feature (for Diags, Troubleshooting, and Settings) is still in Code and works.
- The code is simpler than v3.2.x, and I think it runs better on the limited processor power of a little APM-based unit, without getting dangerous cpu "LongLoops" cycles. Reportedly, v3.2.x can over-burdened the limited APM with "staying stable in wind" calculations and altitude-control suffers. You can even keep your (processor intensive) detailed Logs recording enabled. I'm willing to give up v3.2's Position-Hold flight-mode, Spline-WayPoints, (and a few other little features) ... for a more stable, dependable, and easier to troubleshoot aircraft (at least for now).


I Reset Parameters to Default. I will add my custom parameters from a pre-written list, manually later.

These are some AC3.1.5-Defaults. However, some are different than v3.1.2-Defaults, so I thought I would list them here (since they are important to be set like this). I am using 915mhz radios, but no PowerModule yet.

AHRS_GPS_DELAY,2
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
ARMING_CHECK,1
COMPASS_EXTERNAL,0
COMPASS_ORIENT,0
COMPASS_USE,1
FENCE_ENABLE,0
FRAME,1
FS_GCS_ENABLE,0
FS_GPS_ENABLE,1
FS_THR_VALUE,975
GPS_HDOP_GOOD,200
PILOT_VELZ_MAX,250
THR_MAX,1000

I purposely reset my parameters to get a fresh copy of v3.1.5 defaults (and to not carry-over any depreciated params). The params and settings listed below will not really include any that are already correct as Default. I also don't plan to give explanations for each, so you can just search my blog for notes and definition of each.

I then did a complete calibration of all Mandatory Hardware (radio first). Compass calibration seems a bit different this time.

Set my Flight Modes:
1. Stabilize
2. Loiter
3. Alt-Hold
4. Drift
5. Land
6. Auto
... and in Extended Tuning, CH7=SuperSimple and CH8=RTL
(which I have on dedicated Taranis buttons)

Changed these non-Default parameters:

FLTMODE1,0
FLTMODE2,5
FLTMODE3,2
FLTMODE4,11
FLTMODE5,9
FLTMODE6,3
CH7_OPT,13
CH8_OPT,4

ANGLE_MAX,3000
FS_BATT_VOLTAGE,6
FS_THR_ENABLE,1
LAND_SPEED,30
LOG_BITMASK,958
MOT_SPIN_ARMED,0
RTL_ALT,2000
THR_MID,660
WP_YAW_BEHAVIOR,1

My starting PIDs, but also AC 3.1.5 Defaults

I guess it's ready for a test flight, THR_MID determination setting, Auto-Trim, etc.

I used the above params for the first test flight.

Parameter History:

After first test flight with above Default v3.1.5 params, I changed them to this. This few edits makes them the same as my last (working fine) v3.1.2 params.

Flight Session #21 used these. THR_MID,660. These don't work so good any more, so it must be the extra weight of the gimbal that is installed now.

Current Parameters:

On Flight Session #23 changed to these (below) Nova params that I got from Skywarka. They are the best yet and flew the Nova nicely (with gimbal). Also, the Mobius audio for the motors sounds better and more even. Logs and logging are still working fine. Final THR_MID for this weight is 670.

 



 

This is my Nova's current param changes list (over-rides any values above) as of July 11, 2015

COMPASS_EXTERNAL,1  (yes, external compass - my mod only)

COMPASS_ORIENT,2        (yaw compass 90 degrees - my mod only)

GPS_HDOP_GOOD,220     (extra buffer that effects final GPS accuracy very little)

RTL_ALT,4000         (don't want to RTL into the side of a tall structure on hilly terrain)

THR_MID,670                     (for All-Up-Weight of 1153 grams)

WPNAV_LOIT_SPEED,800

WPNAV_SPEED,700