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.
Yes, on my radio, but many receivers allow to set the failsafe with different values for each channel.
Of course I leave also active the internal failsafe of the ppm encoder and APM:
Ok! I'm understand on next afternoon i will test Loiter mode in your parameters (Nav and Loiter Only) and I will go to on the bed (Now,Bangkok time zone is 2.49 am.)
Any suggestions how to go about doing the same failsafe action using a Turnigy9x
Great work Marco, Jason, JL, and everybody else involved. I can't wait to try it!
nice flight ;-) cant wait to try this on my Y-6 to see if its any better than the 2.3 ver?.
I haven't had any problems with the wobble that some are having prob's with....
wounder if this is due to ESC's motors??
So if I understand you correctly the Failsafe is set in your radio and NOT in the Planner/software? if this is so does anyone no how to set this up in a Aurora 9.
keep up the great work guys hope to post more videos soon.
I've both failsafe configured, in the video you can watch the "Futaba failsafe", the other one enter in action only if the receiver fail (power off) in fly, too hard to test, is not easy turn off the receiver when the quad is in the air (LOL), but i tried in the simulator and work like this one.
thanks for the info, will try and set my Aurora 9 up to do this if I can find out what to do??
So the big question I think everyone is asking is when ver 2.3.1 ??
Well of topic but been wanting to ask this for a bit know....
Camera stabilization in planner can we get this added??? Open Pilot, Xaircopter and DJI Wookong all have this can we not get this added to the planner??
Today (Saturday), 99.9%... :-)
Yes, we're getting close to releasing 2.4 (upgraded from 2.3.1), we just want to make sure that we kill the last few bugs. We found a couple more today so it's good we took the time.
By the way, another good place to put enhancement requests is in the issue tracker.
Finally got some onboard video of my quad flying v2.3 in the Kalahari, Sorry it's not GoPro quality and there's no sound. I have some FPV videos too which I'll put up as soon as I can. Looking forward to v2.3.1 for more stability
Can anybody tell me exactly where I can modify the dead-band for roll and pitch with effect (only) on STABILIZE.
I have found some instances of
but it appears in more than one file and I just want the change to affect stabilize mode.
Thanks / Tomas
Tomas, it's being used in 'RC_Channel.cpp'.. The one in "AP_RC_Channel.cpp" is not used anymore.