ArduCopter 2.4 released
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.
Enhancements:
- massive reduction in memory use (>2k saved!) due to Parameters change and APM2 baro lib fix. TradHeli code can again advance in hand with the quad code
- improved throttle range in stabilize mode. You may find that it takes slightly higher throttle than previously during hover but hopefully you'll find that you have more useable range of the throttle stick as well.
- added TUNE_LOW and TUNE_HIGH for CH6 Tuning (I.e. to set tuning range between 2 and 6 set TUNE_LOW to 2000, TUNE_HIGH to 6000)
- new ACRO_P gain for those who like to fly in ACRO (aka Rate) mode
- Loiter improvements including scaling of X speed
- Easier to use motor testing. see the videos for quad and octa-x-coaxial.
Bug fixes:
- remove unnecessary block for next GPS value before saving home loca...
- remove wobble on take-off
- turn off camera pitch control (which uses channel 6) when using cha...
- reduced rate of decent when landing using sonar
- Add support for CH_10 and CH_11 for APM2 users
- fixed Log_Read_Control_Tuning so that it doesn't read too many bytes
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.
Tags: ACM, Heli, Quad, Traditional
Replies to This Discussion
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DeveloperPermalink Reply by R_Lefebvre on -
Anybody else have a situation where, after booting up, the first time you arm the motors, they stay armed for some time less than a minute, and then disarm for no reason. When you re-arm, it then stays armed.
Not a problem for a heli thank goodness. I think it's just my APM board is messed up, but just checking.
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Permalink Reply by Gareth Rens on -
@Robert: I have the same automatic dis-arming issue :) Running apm1 with 2.4.1
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ModeratorPermalink Reply by John Church on -
I'm not sure it's an issue. Sounds like a safety. It also happens here- 2.4.1(w/ DCM fixes) on APM1. (2.4.1 is flying awesome, BTW. I've taken some tips from Marco's parameters on tuning the Loiter_lat, lon values.)
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Permalink Reply by Rui Manuel Cravo Marques on -
I may be wrong but I remember sometime ago, a talk about a timer to auto disarm if motors armed and no input for 30 sec.
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Permalink Reply by Johann Van Niekerk on -
Same here!
I have alos noticed when waiting for GPS lock , the blue Light on the media tek that says 3D fix goes solid a LONG time before the APM says GPS solid . any one else getting that ?
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Permalink Reply by Rui Manuel Cravo Marques on
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The blue led on mediatek goes solid after fix, not 3d fix. The board led stays solid after achieving 3d fix, that usually occurs a while after fix.
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Permalink Reply by Dave C on -
Do you have xbee's? If so you can watch the flight data, it tells you when you have a gps lock and 3d fix. Bizarrely my apm1 gps light keeps blinking even after i have a 3D fix. Seems still to work ok, I've got 2.4.1 in the air and am tuning a reasonable loiter :) I'll check it again shortly.
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Permalink Reply by glenn nafin on -
this new motors test does not work for me. first i have a APM 1 setup in X... now when i start the motor test motor 1 spins fast.. not like in the vid then motor 3 spins fast and dont stop.... i did test this last week with the old motor test and it was ok....any help
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3D RoboticsPermalink Reply by Chris Anderson on -
glenn: you're using 2.4.1 from the MP? I just tested the motors command and it works exactly as described in the wiki. Each motor spins slowly for a second, in order. Are you trying on a quad or something else?
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Permalink Reply by glenn nafin on
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ya i have a quad, if i run the motors with the radio they do spin the right way... just the auto test thing dont work...
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3D RoboticsPermalink Reply by Chris Anderson on -
Have you calibrated your ESCs?
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Permalink Reply by glenn nafin on
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Yes i did... i guess i will try to reload the software and reset it all up..
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