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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DeveloperPermalink Reply by jasonshort on -
WP_SPEED_MAX is the parameter to control the speed of navigation. By default, it's 6m/s
Jason
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DeveloperPermalink Reply by Marco Robustini on -
AC 2.2ß3/4 - Loiter with AeroSim
Hi Jason, play now with AeroSim and Loiter, it's impossible in all wind condition archive good position, play with Loiter_D but it's impossible a good tuning, bad and large circle with standard L_D and poor correction in realtime with lower D valur, the loiter d term in the sim is much critical.
I also noted a too higher speed when the quad to search for the position.
I solve reducing the L_D, but in a little wind the quad fails to return to the starting point.
It would take a Loiter_D dynamically based on the distance from the point of origin of the quad, sci-fi.
Better result with previous version... i'm waiting the JL/Angel tests.
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DeveloperPermalink Reply by jasonshort on -
I just pushed a tweak. Give that a shot.
Is AeroSim free? how do I get a copy, or do I need to buy that dongle?
Jason
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Permalink Reply by bergsprekken on -
the demo is free for 2 minutes of flying
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DeveloperPermalink Reply by Marco Robustini on -
Is free but only for 2 minutes.
But AeroSim is like a "double-edged sword", because today my loiter test in reality have had good results perhaps best of previous versions.
Michael is working with the AS author for skip the internal stab control of the quad, which actually can interfere with the corrections of AC.
I try your fix now, mate...
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DeveloperPermalink Reply by Jean-Louis Naudin on -
Hello Jason,
You will find all the infos for the installation and the downloading of the AeroSIM in my tuto at:
http://code.google.com/p/ardupilotdev/wiki/HILTestAeroSIM
You may download a FREE DEMO version which is the exact version of the retail version but it is limited to 2 minutes of flight. This is greatly sufficient for conducting the tuning of PIDs and small test nav.
Regards,
Jean-Louis
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DeveloperPermalink Reply by jasonshort on -
Marco,
I flew some nice flights today with B4 on my roof in high winds and while looking at the logs you could clearly see an odd oscillation between groundspeed and pitch/roll. It's bothered me for a while that we have a linear response to speed which is based on the pitch of the copter. The result is we get too little sideways movement with low pitch and too much movement with high pitch.
The output of sideways thrust should really be based on the sin of the pitch angle. I added a function that can approximate that and the end result would be that we could lower the gain a bit. This should in theory eliminate the overshoot in windier conditions.
It works really well in the sim.
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3D RoboticsPermalink Reply by Chris Anderson on -
I can verify that it's crazy windy in San Francisco today. Jason is a brave, brave man.
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Permalink Reply by wraith on
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hi guys, just upload 2.2b to my quad, omg thats some nice software flys perfect, cheers , awsome stuff, only tested stablize mode at the moment due to bad weater over here
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Permalink Reply by Grips on -
In regard to using simulation, and is a discussion for another time and place though.
After using Real Flight, Aerosim, FMS and Pheonix, Aerosim's physics imo is not the greatest. Realflight was the best thus far, especially in terms of winds and wind gusts, but they don't have a multicopter model from what I know. I would hope that by removing the in-program model's stability and relegating it to the APM, the reality of the sim would improve.
Maybe a seperate AEROSIM Thread should be created to discuss its usage like this one. Actually a good Blog Post would be ideal!
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ModeratorPermalink Reply by Graham Dyer on -
What controls the angle of forward flight? My quad flies forward (or any direction) really fast, tilting at around 45 deg. I'd ideally like 10-20 deg.
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