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.
Thanks for the heads up Rui, As it happens I went out today especially to procure some 15mm high density pipe lagging. There is now a short length tie wrapped to each of the feet, this gives me level feet and at least 30mm of crash dampening... provided I'm levelish...
I suppose i could just throw a blanket at it when a meter or so from touch down :)
I wonder if sonar will help - it seems to respond great to the ground and my hand/foot/van/even sofa!
I do find it strange that it works at all given the awful trace is gives in the logs. Ive not heated or shielded it yet and always hold my breath when i flick the switch as if the quads altitude followed the trace it would bounce up and down alarmingly (i get spikes about 6m from norm!) - i suppose there must be some dampening code in there. Whatever it is I'll try it at the weekend if not before.
Are the others that are autolanding using sonar?
There is something strange going on.
Sometimes the sonar log is good and sometimes it jumps all over the place.
Even in MP you can see it jumping to 0,2
I've did heating, RC filter, shield but nothing seems to change.
I think my sonar is bad. I'l have to get a new one.
Have you put a microphone foam over it? shielded cable, shield just connected one end? Isolated it from vibration? All things i intend to try.
However I've decided to wait till this final release v2 release then try to catch up properly with the code etc and do some proper sonar testing. Interestingly I seem to have wildly different sonar results indoors than outside!
Are the big 6m spikes i see at the park bats defending their airspace? i like that idea :)
Is the more frequent spiking indoors harmonic reflections? i dunno, but intend to find out. Yours is much much better than mine (bare, no countermeasures) by the way, I will share the scary graphs once testing begins.
Then there's the optical flow....
Guys, I've proved conclusively that if you still have noise after doing everything else, the noise could be caused by vibrations. I did all the tricks, and still had BAD noise (Vincent, that's nothing!) I solved 90% of it with some physical vibration damping.
This was all done in the tradheli section. But basically I wanted to determine if the problem was electrical or mechanical. I stripped the system down so that the ONLY electronics hooked up was the APM, receiver and sonar. The trace was smooth. I started adding things back in. I had everything on, Xbee, servos, and the ESC with motor spinning but no main blades on. It was fine. Then I put the blades on, BINGO, crazy noise. For me, it was vibes.
Robert, this is one of the better logs ;-) You should see the others.
I found out something strange. It seems that I can turn the black housing.
Sometimes I get no reading from the sonar. Like it is not selected in setup.
I've then tapped alling the housing to see there are no bad connections.
It seemed sometimes the value would come up and go away again.
I then checked the housing and I could turn it resulting in a steady sonar value. Reconnected the battery and it was not steady again.
IMO there must be a bad connection somewehere. New 47€ sonar + shipping is on the way ........
Let me know how that works Vince, I'll start work on my anti-vibe mount. Thanks Robert
Today , I test 2.2 b4 in Loiter mode altitude 10 - 15 meters. In Area test not have wind (0 km/h). It's very stable but have sometime drift out of center about 3 meters.
anyone can help me update the firmware to 2.2 b4. I have it in the arduino and a tail tricopter not work for me I have two teams and is the same ... that is going on?
It is in the latest Mission Planner 1.1.28 so just download the firmware there.
Geir is correct,
Just update Mission Planner to the latest version, and it should load fine through "Firmware"
I have found that you need to set up the comm port and speed correctly, but do NOT connect.
Now select and do the firmware update.
We/I have a slow connection here, I sometimes have to go through the method three or four times, but it DOES load.
ArduCopter_2.2ß2XP2_PIDT1 flight test (real)
Stable mode It´s veeeery good. A solid and firm feeling in flight. Soft and steady stable maneoubres. I definitevely love this feeling.
PID tunning was pretty straight forward, at first shot. Values found looks not very different to others quad sizes (this is my small 650gr rtf quad). Tomorow I´ll test this code on a bigger one I have.
I´ve also tested rest of modes, all working well.
LOITER is much improved. I guess its the same code than 2.2b4, so then we could deduce that the problem was not in the Jason´s loiter code but in the stab control laws (we suspected that already)
There´s only one but... : the Alt_hold under SONAR: I don´t like at all (can say that it almost doesn´t work). I strongly sugest to change it, for example to that of the 2.0.49 (sorry to name it, but is what I do think). I have a good alt sensors signal: