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:
If you run into any problems please let me know here. If you find a reproducible bug, please add it to the issues list.
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.)
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.
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.
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.
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.
Hello Chris, may be that your UDP protocol is blocked by your antivirus and/or your firewall, you need to unblock the mission planner ...
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.
Yep, i know. U said it. But wont work. ive no Firewall and deinstalled the antivirus to test. not working.
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
Any Idea who created the HIL sim to contact to get some help?
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.
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:
May be that the THR_RATE_IMAX is a bit too high... The mine is 50.
Below my flying setup:
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.
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...