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.
Wow Marco thanks for posting, I now have to wait for the latest code to be available through mission planer. I have fergotten how to do it manually, you guys spoiled me lol. Marco could you post some detail on your frame.
Hello Peter, thanks! :-)
You can found all the detail here...
Great smooth flying :D nice job. I wonder if you guys finally hit the jackpot :)
So, time to put that thing to work? :)
No dear Robert, there's some little issues not solved... :-(
HI Marco great flight video
can youi make a video showing RTL, loiter , autoland and just hovering in stabilize not flying ?
Sure Johann, if weather conditions allow it today, I do definitely.
About autolanding absolutely no (LOL), with this heavy quad is better to not try.
I'm changing now the code to insert the option "auto-approach", with final loiter at 1 or 2 meters of altitude.
Nice fly with the 2.4, I like your Leds patterns... Be carefull if you are in front of a full scale helicopter or a plane... The red is normally be on the left side and the green on the right side and they can be confused
I know JL, but i'm patriotic..., green, white and red! :P
The Mikrokopter drone have the red in the front side.
had a small crash while flying 2.4
Copter leaned to one side and did not react to roll input. After crash, started again and cotinued flying with no problem 2 batteries more. While on 2.3 never had this one.
attached log files-
PACEFE: Which board? Can you examine your own log and see if there was any interruption of the logging or if the RC input disappeared at that point (which would suggest a RC cable was loose)? I'm afraid I don't have time to analyze your log for you.