3D Robotics

ArduCopter 2.3 released

Jason is travelling this week, so I'll take the helm for the next software release post. 

UPDATE: the motor remapping thing was confusing everyone, so we took that out and returned to the regular motor mapping. That means that APM 2 users with Hexas and Octos should wait for the next version. APM 1 users should be fine with any frame.  

NOTE: Hexa and Octo users: there have been motor mapping changes that may affect you. Please don't upgrade until we can update the documentation to reflect the changes. This should happen by the end of the day today (Feb 1).

ArduCopter 2.3 is now available in the Mission Planner.  This is the next revision of the ArduCopter 2.2B6 code, which is perhaps the most tested code we've ever released (1288 comments in the thread!)  and certainly in my experience the best code, too. 

The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P (default is 0.14, so start by turning it down to 0.1. In general tune PIDs in 25% steps).

Now that we've got solid code out there, we can turn to collecting suggested gains for standard frames, and a better guide to how to tune PIDs for your unique setups. 

Here are Jason's note on the latest changes (mostly from 2.2B6)

A dampening term called STAB_D has been refined. A D term for all of the Rate based control loops has been added based on Igor's work. Landing for Baro and Sonar has been refined based on JLN's work. A slightly new approach to Loiter and Navigation is being used to try and linearize the pitch and roll for rate control. It tends to use lower gains, yet has a more assertive response in the air.

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.

Note the Mission Planner does not yet highlight these D terms on the main tuning page (it will soon), but you can find them and modify them on in the Parameters list.

Autolanding should now work well (see video above) and the Tri servo issue is now resolved. 

The code should now compile with Arduino 1.0 (thank, Randy!), but remember that you need to use the "relaxpatch" version of Arduino in our downloads section. 

[Update: we've reverted the below. See update at the top of the post]

Important for Octo users:


We've changed some of the motor orders for some more exotic airframes. We'll be updating the docs on the Wiki in a day or two to reflect this. Pat Hickey explains:

As before, the hexa plus APM2 motor setup has changed from the ordering [1, 2, 3, 4, 5, 6] to [ 5, 6, 1, 2, 3, 4 ].

The Octa V layout for APM2 is:
6            4
  2        5
    8    1
      3 7
Motors 1 through 4 spin clockwise, and 5 through 8 spin counterclockwise.
Support for roll/tilt camera control on APM 2 should be coming in the next version. Traditional Heli will also be updating to this latest code as well once we track down a memory issue. 
As always, you can see a complete list of changes in the changelogs.

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Replies to This Discussion

Permalink Reply by Norman Sanchez on February 16, 2012 at 12:50pm

Greg:

not use lipo, use regulated power supply, first before going after I test it in hand bank with great caution.
thanks for the comment

Permalink Reply by Norman Sanchez on February 16, 2012 at 1:05pm
Permalink Reply by Ellison Chan on February 16, 2012 at 1:09pm

Those guys are crazy.  Someone's going to loose an eye.

Permalink Reply by Paul on February 16, 2012 at 4:39am
Hi Marco, I've been away for a while and there is a lot of pages to go through.... So could you tell me where this project is at for hexa's, safe to fly with all working functions?
Paul.

DeveloperPermalink Reply by Marco Robustini on February 16, 2012 at 4:43am

When the all the tests are completed, hopefully this week.

Permalink Reply by Paul on February 16, 2012 at 4:46am
Great. I have apm 1 1280, it's still ok?

DeveloperPermalink Reply by Marco Robustini on February 16, 2012 at 4:50am

For this you do not know the answer, but I think I will leave all the logs disabled.

Permalink Reply by Jonathan M on February 16, 2012 at 11:17am

So, I haven't been following this past week or so.  Is the new thought not to use 2.3 and wait for 2.3.1 or whatever comes next?  Is 2.3 safe to fly?


DeveloperPermalink Reply by Jean-Louis Naudin on February 16, 2012 at 11:23am

In this video you will find a full test of the ArduCopter firmware v2.3.1 that I have done with my Quadcopter F450 X frame.
I have tested successfully the:
- STABILIZE mode
- ALT_HOLD mode
- LOITER mode (GPS position hold)

I have really enjoyed with the LOITER mode, it was so stable that I am played to do some videos of my self with the on board GoPro camera while I taken photos of my quadcopter in flight...

Good work to Jason and to the ArduCopter dev team...

Regards, Jean-Louis

 


DeveloperPermalink Reply by Marco Robustini on February 16, 2012 at 11:33am

Jean-Louis, have you tried to really fly without auto function? :-(
Watch my video please... them nothing automatic, only fingers in Stabilize...


DeveloperPermalink Reply by R_Lefebvre on February 16, 2012 at 11:37am

Good to see that result Jean-Louis.

Permalink Reply by Vincent Mees on February 16, 2012 at 12:27pm

JL, was there a lot of wind?

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