Version 2.4 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area. Although not as big a change as the 2.3 release, it still includes a respectable number of enhancements and bug fixes.
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 in 25% steps.
Thanks go to the numerous contributors including users and their detailed bug reports, developers and testers. Hopefully all together this will add up to a nice smooth release!
As per usual, please post your comments, issues in this discussion. For enhancement requests for future versions, feel free to add them to the issues list. Note: you can "star" an issue to receive emails when someone comments on the item. On the dev side it helps us because we can get an idea as to which feature requests are the most popular by sorting by the number of people how have starred each issue.
Im having the same problems, for now I just edited from arduino but its annoying having to do the setup everytime. Those params are in config.h btw.
Theres a thread going on about this on the dev list.
Thomas, out of curiosity what gains (cam_r_g / cam_p_g) do you use?
On 2.3 I had CAM_P_G,2 and CAM_R_G,2.2 for my setup.
I asked that question on another discussion, but got no reply. What does Dead Zone mean and how might we use it?
2.4 flight test: LOITER
Yesterday I was flying 2.4 concetrated in LOITER and got very good results (with baseline code) after a lot of tunning (small 650g quad, APM1). In summary:
RATE-P has a MAJOR influence in loiter and it´s very critical. I´ve put it in Ch6 and there is a very narrow value zone where loiter is good:
RATE-P = 0.09 bad, have local oscillations diverging
RATE-P = 0.1 perfect LOITER
RATE-P = 0.11 circles (small)
RATE-P > 0.11 circles, increase the radius
LOITER_P aparently have no effect (or very small). I´ve used 1.5.
NAV_P = 2, but I guess we can up a bit in compromise with RATE-P. Rest of pid´s are the defaults
Finally I´ve got a very good "compromised" tunning (see attached file)
Hope this help to tune-up others
Hi, what weather conditions were you testing in? When you write about loiter being "good", are you talking about precision, or smoothness, or both? Personally I am interested in a smooth and stable platform so would prefer to have a smooth 3m box rather than a twitchy 1m box. Any hints on going for smoothness?
Would love to test as well, but the wind is very strong here at the moment - should be 10mph tomorrow morning I hope. Regards, Bill
weather was calm wind with some light breeze. The parameters tuned are for a compromise between smooth platform and small box (I had about 1-2m box).
Please consider this is a small quad (650g including 2.2A batt) wich is very critical in loiter. Bigger quads should be easy tunning.
I can suggest you to start with deffaults and use Ch6 for tunning in flight RATE_P. You will see how sensitive LOITER is to it. So for a "stable" setting, low down as much as possible until oscillations occur. Then you need to check if STAB is still good for you with so low RATE_P.
Thanks - if the weather does let up I will give it a go. Bill
It's a shame we share the same weather Bill. I'll give all this ago too (on my very touchy small quad frame) as soon as things clear up. Thanks for the test results Angel :)
I just came back from fying field , i tested Marco's PIDs and yours and a combination of the two , with your PIDs my quad wants to flip over the whole time , but recovers and swings from side to side untill it hits the ground, did you start tuning with standard PIDs?