At least with the latest firmware, I was able to log IMU data and download it. This flight was a test with auto take-off, some waypoints with altitude changes and auto landing. I did it twice with the same result. I'm happy with my quad.
Here are some screens of X and Y acceleration data, GPS Data (Sat number and hDop), Altitude Data, and trace of the flight on GoogleMap.
On VRBrain the Arducopter code use use only 6-7 % of cpu resource .... on APM 2.x use from 70 % to 95 % of cpu ... so we have a lot of resource available for doing reliable test of advanced functionality . The code need only 480 kbyte we have available 60 % of flash for develop new functionality .
Last revision of code work very well ... we are very happy of these fly result ... in italy a big community of user start to switch to VRBrain from Arduflyer or Cirus Board AIO.
SPI BUS speed for MPU6000 increased to 8MHz ENHANCEMENT of MPU6000 enabled by default (MPU6000 @ 1KHz and gyro full scale @ 1000dps) update to latest 3.1rc5 of arducopter code Corrected bug in Dataflash log download Yellow led on board now show Scheduler activity.
Please upgrade to this release following this link.
THe Gyro and Accels now are sampled at 1KHz instead of 200Hz and main loop averages 10 samples every main loop.
This has imprved flight performance, but it is still in test, so use accordingly. With this version you can try to rise the INS_FILTER partameter to 42Hz or 98Hz, but you must have vibration under control.
We release a Major release 1.0.12 we add a lot of new functionality and full support of pan stabilization with 1 IMU sensor or two sensor .
The accelerometer 6 position (scale and level ) calibration is a one-time configuration. You need to do it the first time you power up the board after the firmware update (or if you change your IMU board), then you can save the calibration parameters and don’t worry anymore.
Power up the board and connect it to the VRGimbalGUI 0.11
Open the “Logs” tab
Write AC in the command line textbox and click on “Send Command”
Follow the procedure moving the IMU as requested. After each step click on “Send Command”
If the calibration is successful send the ASC command using the command line textbox
Click on “Save to Flash”
Minor bug correction
Accelerometer 6 position (scale and level) calibration with saved parameters (see below)
Stabilize mode on Yaw
Corrected stabilization issues for pitch near 90°
Configurable PWM frequency
Support for auxiliary IMU for more precise Yaw measurement (see here for more information)
Gyro calibration can be saved to avoid calibration at startup
Added radio channel for position reset of each axis (you can use the same channel to reset two or three axis)
Experimental Stabilize mode on Yaw (good with small pitch values)
Experimental Follow mode on Yaw (need motor steps calibration and PID reconfiguration)
Experimental support for second IMU for precise Yaw measurement (contact us for more info)
Added support for analog/digital input (like joysticks and buttons) to be used in alternative to RC:
configure channel 100 to 105 to use analog input 1 to 6;
use the “JYC” serial command and follow the instructions to calibrate the inputs.
Completed PID mode on Roll and Pitch, with support of RC commands.
Manual (RC) mode (to be used on Yaw for now) working but requires improvement.
So if you want to join in development you are welcome .
This is a screenshot of VR Gimbal Gui developed using .net technology, so could be work also using mono on mac and linux , test on that platform is welcome ,you can connect directly by usb to VR Gimbal or by radio link as 3dr module , blueetooth or other ttl wireles adapter :
We Upgrade also the VRGui with new functionality , slider full support of Pan axis and Full Frame.
With VRGimbal is possible to control this kind of gimbal ;
Handheld and Air Drone Gimbal 2-3axis Entry level gopro gimbal.
Handheld and Air Drone Gimbal 2-3axis Heavy dslr gimbal.
This is an example of video doing by our user of VRGimbal on heavy dslr gimbal :
This is official thread in virtualrobotix community is here join us for have more info and support :