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 -
You can fly Acro for sure. The separate Acro PIDS are removed from this version. Use the Rate PIDs instead and let me know how you get on.
It saves a lot of RAM to not have separate PIDs and If things are tuned right, you shouldn't need them.
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Permalink Reply by Dave C on -
First test of b6 went VERY WELL!!
Decided to first try the default params.
Put the helmet on, did all my usual tests moving the quad then the sticks about, all feels very together, not perfectly tuned, but I only had ten minutes to play so i thought i'd give it a go in the back yard.
It seems very very good! I've not got it locked in at all, - done no tuning yet - I still have rate_d at zero etc, so I will give the igor tuning method a go when i get back later, but for the first time for me anyway it was perfectly flyable 'out of the box'. I'll update RUIs spreadsheet with my perfect params later when i get back.
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Permalink Reply by umberto marchi on -
congratulations for the great work of the Development Team
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Permalink Reply by Andrea & Antonio & C. on -
welcome
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Permalink Reply by afernan on -
2.2.b6 Tests: HIL and real life
I´m just tested the new fw 2.2.b6 from GIT. In summary all went right in both HIL and real life.
Some details:
Used ALL defaults in my small custom quad (650gr) same than other tests. Windy day (15knt).
- First, I´ve HIL tested all modes and went fine. Although this is not conclusive, it´s a good start.
- Landing is greatly improved and works fine in both HIL and real. Desdending speed is adecuate and final "disarming" is really well implemented (it´s almost inmediate, just after touching the ground).
- Loiter is good for the wind we had today (I´ll post some video later). I can´t conclude more since I need to check it with no wind.
- Stability is very good. Although the hard wind didn´t let me a fine check on that. I´ve done agresive maneoubres without a single glitch. I need to check with no wind to compare with previous PIDT1, that IMHO, is the best I´ve seen till now. (But, Ive used defaults PID so, sure that this can be improved a lot).
When in loiter, if you move the stick, sometimes it looks to pass to "stabilize" (although still indicating loiter) flying away the set point. Most of the times it works well and make a Loiter reset at stick release. Need to test more this small issue (maybe it was the hard wind)
In summary, a good fw, having all the features working well, considering I´ve used default PIDs in a very different custom quad from refference stock one.
Thanks a lot, Jason for that. Dificult moments now with a lot of critics all along, but I do support the offitial development line.
Angel
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DeveloperPermalink Reply by Marco Robustini on -
Oh yesssssssssssss.... ;-)
I await your video! Read the pm mate...
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Permalink Reply by Denny Rowland on -
Great to hear this positive result.
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Permalink Reply by bergsprekken on -
this sounds very good, cant wait to try it
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DeveloperPermalink Reply by jasonshort on -
There is one detail on the Loiter change. If you fly, you must bring it to a stop to regain loiter. I will also put a 2 second timeout on it too in case you're in wind. I was seeing an aggressive kick when I let go of the sticks with high lateral speed. The speed filter is intended to stop that.
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Permalink Reply by afernan on
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Yes, I´ve noticed that on HIL and on real. You need to stop it before entering again in Loiter. So, this lets you, for example, starting from a loiter, fly freely and when you stop again it remains in loiter without touching switches. Let´s folks pronounce about if they like. Personally, I prefer to have the option of a fix loiter set point and return always to it. This let my chindrens play with it safely and for FPV stay in place.
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DeveloperPermalink Reply by Marco Robustini on -
But I do not understand where is the difference between the current implementation of Jason and the "reset loiter", (if defined)... now we must necessarily stop it manually before it returns to loiter?
An if "reset loiter" is enable what happens?
Afernan, do you read the private message? :-)
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