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.
I switched from Spectrum DX6i + AR6210 to Graupner MX-20 + GR-24.
Recalibrated in MP, Recalibrated ESCs, switched back to DX6i recalibrated this one. Nothing changed.
I guess its some little stupid mistake I'm just to blind to see...
Hi Thomas, have you checked on MP "raw sensor" view and then "radio" if your stick movements are giving correct output to motors ? Also have you checked your radio is in ACRO mode without any mixing active ?
Hi Rui, i use "heli" program for better throttle curve setup... of course, with "H1" swap-plate and no mix enable.
Can any of you PID gurus :) tell me what param may causing a sort of "rocking chair" effect ? If I lean the quad to any side and then return to neutral, I get sort of a decaying sin wave oscillations of about 3 or 4 times (ex : 45º -> stick to neutral -> -10º -> 5º -> finally leveled) I tryied different values on rate P but didn't seem to make any difference (from 0.09 to 0.150).
Also there are some params that we don't generally touch on the left side (params list) named LOITER_LAT_P, LOITER_LAT_I, LOITER_LAT_D, ... what are these ? When we tune Loiter in the boxes, that changes the HLD params (I think meaning HOLD), so what are the LOITER params for ?
A slow oscillation is generally caused by a stab p value that is too high.
Could also be Iterm? I always zero out I-term when hunting oscillations. Get it out of the way, then focus on the P if the oscillation still occurs. If the Iterm at zero stops the oscillation, then you know it was the cause, and you can work on I term.
Good point Robert. It definitely could be the I gain as well. That should be zero (same with D gain) in order to find the optimal P gain.
Thank you, I will try to zero I terms first, and see how it goes. One thing I notices is that this version is much more "forgiving" than 2.2. I had strong oscillations and out of control with rate P above 0.09 and with this one I already took it to 0.15, however, to fine tune it it's a lot more stressfull since there are new params multiplying the possible choices. The use of ch6 was a bless especially now I don't have a laptop and not using radio telem for the moment. Control is a try and error science especially with our completelly different configurations. :)
MMM guys 2.4.1 in the MP for download ? any one know what has changed ?
It is a bug fix for an issue that one of the other users encountered. The bug was that a print command to the serial port was causing a delay which in turn caused an issue with the APMs ability to measure the current roll/pitch information. It would have happened when switching modes (loiter to stabilize) under certain conditions.
okay cool , thank for the info Adam.