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.
Yup, its in the repo now and solved the problem for me.
Had a great time with the APM2 maiden flight and a custom camera gimbal used. There are some vibration issues that will be worked out in the future. For now here is how it flew in the park. Great job developers :-)
I currently use APM2 and have the 2.4.1 firmware. On bootup I just get a solid blue color on the status led. I will need to restart the apm using the button for it to function properly. see picture. What could be wrong with it? any tips on how to debug? I use the y6 firmware and uploaded it directly using the Mission Planner. works fine if i have the usb connected.
Similar phenomena happens frequently to me too (APM2).
Now git 2.4.1 but the problem occurred also in earlier versions. Normally resolve by unplugging/replugging battery cable to do hard restart. Occasionally I have to do that a couple of times before it boots correctly and the red light wakes up. Sometimes there is not even a blue light.
Maybe time to file this onto the issue tracker?
Here a video of a test flight done yesterday with the v2.4.1 with the latest fix from Jason about the STAB_D limitation after my latest crash report. I have done more than 10 flights without any problem now...
Thanks to Jason for the patch...
Hi Jean Louis,
How can I get your v. 2.4.1 xp2 ?
Hi JL, thanks for the info.
Is it possible to get my hands on the latest version please, I have 8 full batteries and glorious sunshine.
If not, this stab_D limitation - was this your problem? Was this why your quad crashed? What is the problem exactly, what should I do to my params in order not to replicate it? Reduce stad_d to Zero, and use rate_d tuning?
Hello again Jean-Louis. Thanks for the video, and the params, very different to where i ended up with this frame, and my loiter way not as good as yours that's for sure.
I cant test loiter now as Im at home, but i did upload your params. I have to say i found the settings to be very slack indeed (mainly the rate_P - 0.045 is much lower than i usually go.
Do you use this setting just to test loiter, can you fly well in stab with rate_p so low?
PS is 2.4 xp2 on git yet? It might inspire me to get my head round using GIT.
Okay After a morning of flying with Graham , I have a few things to report. the main is a "fly away"
I was flying in stabilize mode testing the controls as I made chnages to the Rate PIDS and had the copter drop one side unexpected but was not the Lean problem, I know this becuase the copter droped to bout 30degrees and held altitude for a bout 20-30meters before hitting the ground. killing the throttle or trying to counter was useless.
log is attached.
then Atl hold is much worse then what it was with the likes of 2.2 version , this also counts for loiter , hovered about 1,5meters of the ground and when alt hold was activated the copter would drop so low that it would hit the gound and shoot up to about 10meters again .
Hi Graham Yes looking at the logs now aswell and even the Kmz file it wasnt a motor lean it kept altitude for a while and then hit the grond on that angle.
but weird it was indeed. im keen on trying JNL code but my Arduino is acting up . if only there was a option to chooze wich version of the code the MP downloads onto the board... would make life easier
You're using an APM1 right? This is very likely an issue with the ppm encoder. The stock ppm encoder that comes with the APM1 has a weakness when the voltage drops too low. It can lock up just like you have above. If you have an AVR programmer you can update the ppm encoder to the latest version which has this issue fixed by following the instructions here.
Normally quad users don't see this issue but heli users often do because of the extra strain that the servos put on power supply meaning that voltage drops tend to be much more common on helis.