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
Update 2.2b6
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
Replies to This Discussion
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Permalink Reply by Rui Manuel Cravo Marques on -
Have you tryied to lower your stab P and R ? The more power you have, the less P you need. I have about 2.250 in Stabilize Pitch and Roll P and it works with rate roll and pitch from 0.079 to 0.130, getting wobbly as it grows above 0.130. I have a quad, but with a good power rate, so you try to leave your RATE Pitch and Roll P at 0.090 and decrease your STAB Pitch and Roll P to 2.5 or 3 to try it.
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Permalink Reply by Chris on -
Hey
I can increase / decrease my stab_p to "whatever", its still unstable. My rate_p is stable till 0,080, over that, it wobbels. if i lower my rate_p the copter is sluggish and not responding on my stick inputs.
so i increased my stab_p to get more crispy responses, but it cant hold the level. the copter is nicking very hard, so u see on my videos. i tried the apm on my Mwii Quad, its the same thing. (i tought my Hexaframe was bad, maybe)
EDIT: What is with the "i" terms? I dont think, what i have to do with it, to get it maybe stable?
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DeveloperPermalink Reply by Marco Robustini on -
Chris, try "ß2XP2-PIDT1" version in your hexa and give me your impression. Use my parameters, just tune "Stab P" and "Rate P and I", leave the other flight parameters untouched, of course set you flight mode and other much important thing for your hexa.
Do not panic when takeoff, the wobbling for 2 or 3 seconds is normal, but then you can see your hexa rock solid, just takeoff and keep your hexa at one meter from the ground until you see it no wobble, then fly. - Attachments:
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Permalink Reply by Gareth Rens on -
Marco, when you change PIDS via xbee using MP. Do you need to reset the board before the new PIDs take effect?
Thanks :)
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Permalink Reply by Chris on
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U can tune ure Parameters over XBEE live. There will be active after u send them. U dont need to reset.
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DeveloperPermalink Reply by Marco Robustini on -
For security i reset board and clear all logs ONLY when i change firmware release (different version), the you can write parameters without reset the APM, via Xbee.
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DeveloperPermalink Reply by Marco Robustini on -
Bad news from the airfield when testing ß5, no more tests here for a while LOL):
After two minutes of "not good fly" with ß5 (i'm sorry Jason but for me it doesn't work fine like "PIDT1" and there comes even remotely in flight model), i've total lost the control of my quad, motors at high speed in orrible crash in a long distance.
4 arms broken, 4 motors, 4 props... I have yet to verify the electronic and esc.
I think ß5 release will be slightly slip, unless the problem is actually caused by a problem with my quad hardware and not by the beta code.
Some hours and i put video and logs here.
Tester, stay alert...
Marco
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Permalink Reply by Dani Saez on
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Sorry to hear that Marco! :-( well, at least you did not lose the quad.! (as I did).
keep it up!
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ModeratorPermalink Reply by Graham Dyer on -
Sorry to hear that, Marco, hopefully you'll be back in the air soon. Any idea of what went wrong?
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DeveloperPermalink Reply by Marco Robustini on -
At the moment no, need log analisys, I was also very quiet in a turn, began to rise and so fast that only diagonally, and I no longer took command, however, has taken the "disarm motors" I gave once I figured it had already crashed into the ground, the lipo was fortunately still connected.
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Permalink Reply by Rui Manuel Cravo Marques on
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:( Sorry to ear that. Hope you have a quick and not too expensive recovery ! Best wishes !
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DeveloperPermalink Reply by Marco Robustini on -
Bye bye, Baby... LOL
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