Developer

Arducopter 2.2 beta

I just pushed Arducopter 2.2 to the Mission planner. This version went through extensive testing by a brave group of flyers and with both HIL and SIL testing.

See this link for more:

http://www.diydrones.com/forum/topics/arducopter-2-1-1-alpha

If you run into any problems please let me know here. If you find a reproducible bug, please add it to the issues list.

tuning tips:

If you run into Loiter issues, try adjusting LOITER_P. It's 2.0 right now which may or may not be to aggressive for your copter. Nav is no longer used in Loiter control, which should make tuning easier.

If you run into a circling issue, try lowering LOITER_I to 0 and see if it goes away. If not, check your compass declination. A negative error will produce CCW rotations, a positive error CW.

If you have issues with alt hold, try lowering your THROTTLE_P, it may be too high for higher thrust copters.

If you have wobbles and can't seem to get rid of them, there is a new term called STAB_D, which is a derivative term used to tune out the wobbles. You can increase it until they stop, but just like driving a cadillac, you loose some performance and handling. In the CLI "tune 16" in setup will let you control this in flight, and "tune" in test menu will let you see the value printed out interactively before flight. See the wiki for more detail.

Many testers gave me a thumbs up on the code, so if you have an issues please post the flash log from the copter. The tLog isn't that much help to me for debugging as it doesn't capture the needed values at high enough rates.

(Remember, if you'd rather pull the code from the repository and load it with Arduino, you must use the "relaxpatch" version of Arduino in our downloads section.)

 

Update 2.2b2

I believe I found the simple mode error. It was a bug that was working OK until Tridge fixed it so it was declared properly. Then the bug became active. I made the Simple mode function internal variables static and this should fix it hopefully.

I updated alt hold to not use dampener for now until we get more testing. Some folks saw a latency induced oscillation which was pumped up by the D term.

I added the automatic throttle cruise or hold value as a compile time option for testers. This basically looks at your throttle and climb rate while in stabilize or acro and determines your optimal hover value. This means you can enter any autopilot mode and not have to worry about your throttle position. It should make alt hold more reliable if it works. This is off by default until we get good field tests back.

Update pushed to GIT.

Update 2.2b3

Just some refinements. I added JLN's throttle curve mod for landing. Hopefully that's correctly implemented. 

Made the landing delay from RTL user settable

removed the ADC gyro filter, I was doing a lot of testing and determined it wasn't worth it.

Enabled the auto-throttle control by default. Please test in the sim

Altitude no longer resets when flying in Loiter mode

Pitch and roll dampening is smoother now. try values up to .08 for very dampened flight.

Mavlink can now trigger auto-land

I'll push a hex when I hear some good news from HIL testers.

Update 2.2b4

Flew today and saw the WP speed governor wasn't quite working right. It was going down to 0 rather than the minimum.
Made internal switch to CM for distance calcs. This should not make any change to gains or MP.
Modified a few default gains for jDrones frame based on AP test flights of this code in some heavy wind on my roof.
Fixed an issue with the landing code not kicking in right away.
Decreased the slowdown near WPs
Added a limit to the amount the pitch compensation can effect the throttle if the throttle input is really high or maximum

 

Update 2.2b6

This is a rollup of all the code that's been flying around for the last week as well as a few bug fixes. I'll be posting it saturday night after reviewing all of my logs.
A dampening term called STAB_D has been refined. A D term for all of the Rate based control loops has been added based on Igor's work. Landing for Baro and Sonar has been refined based on JLN's work. A slightly new approach to Loiter and Navigation is being used to try and linearize the pitch and roll for rate control. It tends to use lower gains, yet has a more assertive response in the air.
I have one small loiter control issue to sort out tonight based on my logs, then I'll post to GIT.
Here is the auto-landing code in action. 

OK, 2.2b6 is on GIT. The Mission planner is going to be out of sync until the release code. until then you can use the APM_Config.h or the parameters list in the Mission planner. 

STAB_D : This is the gyro accretion dampener. This can remove small wobbles during sharp changes in angle commands. Making this too high can have a negative effect in performance and add a memory effect that can cause temporary loss in control. The in flight tuning is ranged so you are just below that effect.

If you haven't noticed before the control loops are in two stages. The first is a PI stage that converts some sort of position or angle error into a desired rate. These generally do not need to be tuned. They are more of a user preference on how fast you want the copter to perform a motion. 

The second stage is the actual PID loop that needs to be tuned for the copter. This converts the desired rate into a motor command of some sort. I added a D term based on Igor's recommendation to the PI's for each rate controller. These should show up soon in the mission planner for the release. I cannot give you a concrete answer for how to tune the D terms, because they each depend on their function such as alt hold or loiter, etc.

Still, the absolute most important term is always the Rate_P term for each loop. Start tuning here.

The default PIDs are in the what flies great for a stock jDrones/3DR Quad with the purple motors in X mode.

Thanks,

Jason

 

 

 

 

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Replies to This Discussion

Permalink Reply by Chris on January 26, 2012 at 1:23am

Hey John

i have the same issue with FG. its not working for me. I tried AeroSim, but there i have the same problems. Seems so be a problem with the UDP communication between the Planner and the Sim. Is not properly working.

With FG i never had a flight without yaw oscillating. In AeroSim i have no Controls, i cant steer my virtual Copter.

So im with u, but i havnt a solution.


DeveloperPermalink Reply by Jean-Louis Naudin on January 26, 2012 at 3:12am

Hello Chris, may be that your UDP protocol is blocked by your antivirus and/or your firewall, you need to unblock the mission planner ...

Permalink Reply by John Campen on January 26, 2012 at 3:39am

JL the I doubt this is a firewall issue because using FG with SIM and in Acro it all works fine. I can pitch roll, yaw and go up an down ok. Although I must add it does seem like there is no stabilization at work because the quad wont self level if you release all the sticks. It just maintains the same attitude.

There is from what I can gather something very wrong wit the SIM HIL firmware settings. I did try adjusting PIDs and it did to some extent lessen the yaw oscilation, but I cant get rid if it completetly and even the amount I got it down to still makes it unflayable.

Permalink Reply by Chris on January 26, 2012 at 6:53am

Yep, i know. U said it. But wont work. ive no Firewall and deinstalled the antivirus to test. not working.

Permalink Reply by John Campen on January 26, 2012 at 3:43am

Chris try downloading the latest firmware and see if Acro works in that. I have acro working pretty much perfectly. Make sure you don't use simple as this also gives oscillation in Acro

Permalink Reply by John Campen on January 26, 2012 at 8:09am

Any Idea who created the HIL sim to contact to get some help?

Permalink Reply by Don Brooks on January 26, 2012 at 9:59am

It was originally developed by Michael. Have you posted a question in the Simulations forum?


DeveloperPermalink Reply by Marco Robustini on January 26, 2012 at 10:46am

STAB YAW P = 4
STAB YAW I = 0
STAB YAW IMAX = 8,0
RATE YAW P = 0,07
RATE YAW I = 0

John, start from here and tell me if the yaw in Stab is good.

Permalink Reply by tangtl on January 26, 2012 at 9:07am

Today I flew my hexacopter with  2.2b4, no wind, the stabilized mode is very good, even I maneuver  fast climbing  and descending, there is no  wobbling . The loiter mode  is perfect , it drifts within 1-2 m . But  I have problems with big wobbling when descend at loiter mode(I put throtle sick to bottom and it descends too fast). Can I adjust anything to decrease the loiter mode  descending rate? My  parameters of throttle are as below:

THR_ALT_I,0.01
THR_ALT_IMAX,300
THR_ALT_P,0.4
THR_FAILSAFE,0
THR_FS_ACTION,2
THR_FS_VALUE,975
THR_MAX,1000
THR_MIN,0
THR_RATE_I,0.005
THR_RATE_IMAX,300
THR_RATE_P,0.5
TRIM_THROTTLE,546

 

Tangtl


DeveloperPermalink Reply by Jean-Louis Naudin on January 26, 2012 at 9:32am

May be that the THR_RATE_IMAX is a bit too high... The mine is 50.

Below my flying setup:

THR_ALT_I,0.02
THR_ALT_IMAX,300
THR_ALT_P,0.396
THR_FAILSAFE,0
THR_FS_ACTION,2
THR_FS_VALUE,975
THR_MAX,1000
THR_MIN,0
THR_RATE_I,0.015
THR_RATE_IMAX,50
THR_RATE_P,0.195

Regards, Jean-Louis

Permalink Reply by tangtl on January 26, 2012 at 10:15am

Thanks , Jean-Louis , THR_RATE_IMAX,300 is default value , but  I saw in your posted  2.2b4xp1 configuration  ,  you have changed it  to 50.  Since tomorrow  is still  Chinese lunar new year holiday, so I will try it with  THR_RATE_IMAX,50.


DeveloperPermalink Reply by Jean-Louis Naudin on January 26, 2012 at 9:41am

Here a video of a preliminary test flight of the ArduCopter v2.2 B5 during a windy, gusty and rainy day...

In spite of the bad weather conditions the long duration LOITER test is still very good, a bit better than the B4...

Regards, Jean-Louis

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