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 42 58 13 7Motors 1 through 4 spin clockwise, and 5 through 8 spin counterclockwise.
Replies to This Discussion
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DeveloperPermalink Reply by Jean-Louis Naudin on -
There was shorts but strong gusts... see the weather measurements above... 5-8 Km/h of wind but gusting 31 Km/h !!!
Regards, Jean-Louis
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DeveloperPermalink Reply by Marco Robustini on -
ArduCopter: V2.3.1b VS V2.2ß2XP2-PIDT1 - The stability battle in crosswind (APM1)!
Both version are "fine tuned", tested only in Stabilize... I do not write anything, I leave you to judge... :-(
Marco
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ModeratorPermalink Reply by John Church on -
Hi,
Why is JLN's flight so much more stable than yours? I just wonder if there's a tuning difference, or something else... Also, how does it fly in auto modes on yours?
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DeveloperPermalink Reply by R_Lefebvre on -
Yeah, we need to see JL's setup in manual mode, and Marco's in auto mode. I'd also like to see the tuning parameters for both to see if there's anything apparent there. Maybe Marco's aren't optimized.
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DeveloperPermalink Reply by Marco Robustini on -
The other way Robert, I am in Stabilize (manual) and JL in Loiter (auto).
Both version are fine tuned.
I'm not interested about automatisms if first the Stabilize is not good due twitching issues.
I hope you can understand why there is this huge difference, there are many glitches and still wobbling/twitching, as you can see with the old version are not there.
Now we need to understand why and where the problem lies.
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DeveloperPermalink Reply by R_Lefebvre on -
Marco, I understand why you want Stabilize to work first.
But I think it's possible there is a problem in PID tuning. It's worth looking at.
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DeveloperPermalink Reply by Marco Robustini on -
No Robert, i'm sure about this... Muzio Scevola! :-)
But I have the benefit of the doubt, tomorrow I try again with 2.3 and hope not to have these results.
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Permalink Reply by Vincent Mees on -
the older code flies more stable thats for sure. So with the upcoming 2.3.1 the twitches are not yet resolved.
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DeveloperPermalink Reply by Marco Robustini on -
Yes, at the moment are not resolved (for me).
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DeveloperPermalink Reply by Jean-Louis Naudin on -
Humm, I am not really sure that older code flies more stable...
Today, as far as I am concerned, I prefer the v2.3.1... Don't forget that I have tested all the previous releases..
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Permalink Reply by Vincent Mees on
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Could be, but I've tested my HW and all flies excellent with the v49.
And not so good as 2.3.
Seems that other people have the same experience.
IMO it could be a combination with some motors, esc's and 2.3.
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