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.
Agreed, but wait till 2.4.2/2.5, i believe this is where the changes will occur that make the big improvements, If I can be of assitance to write anything up, let me know.
I think the reason we have separate of Lon + Lat settings is because we need to have separate Lon + Lat PID controllers...or rather we need separate I factors in the PID controllers. So even though the gains should be identical for the two controllers, we need to store separate I values for lat + lon as we're flying (because these capture the current impact of wind). Possibly we could initialise the two controllers from the same eeprom settings to accomplish this...although this might cause other troubles...it's probably best just to combine them in the mission planner but behind the scenes still have both..
Yes I do realize the controllers have to deal separately with Lon + Lat, but as the gains should always be equal it seems pointless to have the parameters separated. Anyway, combining and "hiding" in the Mission Planner, as you mention, might be one way to make it appear simpler for the user.
A little something to wile away the minutes till the fixes come through, and also to qualify Chris’s ‘good enough’ comment. Good enough? In low winds it’s brilliant, in so many ways!
Tested here are: DJI flamewheel F450 frame, otherwise full standard 850kv, 20A bundle, 10*4.5 EPP SF props, 2200 cheapy batteries.
Testing: STOCK parameters (apart from where I tune down rate_P to 50% of the original to be able to loiter. All is explained in the video, please excuse the static gopro, plans are afoot on that front... I RECOMMEND HD and full screen so you can see whats going on.
This testing was done after 2 days of vibration elimination, it is NOT recommended that you fly with this firmware – as stated above.
Seeing your sonar working so well makes me a little jealus, Dave. Have to pull myself together and get my own sonar in service.
Meanwhile I respond with this video, shot yesterday afternoon in slightly windy conditions. And this video is even longer than yours, moahahahaaa! (feel free to use fast forward).
I fly some Stabilize, loiter (with Loiter P=0... uh), Auto, RTL, failsafe, and auto landing. And the new "what the heck is it doing now?" surprise-mode.
Finally I reveal my o-ring suspension (works good!) and how I set up my JR 12X to select six flight modes.
The video is available in full HD.
Tomas, first of all let me say you are a visionary (title of video in the beginning - 28 March ? you are in the future man :D ) Great super impose video of the planner and the voice gives a great futuristic look :D when you tell Loiter P = 0, is the loiter param at the MP screen (hld_p on params list) or the loiter_rate_p on the params list ? Nice flying with the wind and all. Before my yesterday crash I had loiter working very well too and alt hold as well (baro only).
Damn it! 28 March... I was told strictly not to tell about my time travels. Now the temporal police will come knocking on my door again with a fine. :-D
I was referring to the MP screen / HLD_LAT_P and HLD_LON_P.
Sorry about your crash, Rui Manuel.
No problem :D "we crash so others don't" it nothing was broken.
Hi Rui! The reason of the crash? :-(
Hi Marco :) I don't know yet. I was making experiences with high I values to see what they do, suddenly looked like one motor stopped (number 2) and the opposite accelerated (number 1), and it deeped to the ground (not flip). Randy told it had nothing to do with the I term and suggested it might be hardware related. Even with motors disarmed, motor 1 still had what looked like to be pwm pulses and worked from seconds to seconds. I rechecked connections, everything ok, connected motor 3 to ouptut 1 to see if it was an ESC problem and motor 3 did the same, so ESC excluded, I then erased eeprom and did reset and uploaded software again, and it was ok... I don't know what happened, maybe corrupted eeprom due to violent shakes ? Since now there's that leaning issue, I will stop test flies untill you guys say it's ok, but... :) it will probablly be stronger than me, and I will head to the field to see if it does the same lol... I was at 1mt high so no big problems, just a motor stand bent.
Hi Tomas, got my sonar working since two weeks now.
Tried almost everything (shielded cable, filter on the power input,...)
What did the trick for me at the end was putting it away from the center, between two arms using an ordinary jumper wire (not closely passing APM/other electrics) and directly powering it with the BEC of the closest ESC.
Will post a pic when I'm back from work.
Ok Thomas. Look forward to your pic.