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 Jean-Louis Naudin on -
Of, course, Marco, I agree with you, we need to push the flight enveloppe, but after this 1st test flight, I am very confident about the soon results. Now, I have the feeling that this (very) old problem is cleared...
Jean-Louis
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DeveloperPermalink Reply by Marco Robustini on -
Sounds good dear JL... tomorrow my tests/video with the latest Tridge patch! :P
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Permalink Reply by Dave C on -
Brilliant! Well done every body!
Standing by... :)
In other news I got 2.4.1 to loiter in that tiny little garden i showed you - yes, 3m*3m, 1 metre off the ground, great fun, and it took some weird and wonderful tuning, but I suppose it's almost irrelevant now :)
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DistributorPermalink Reply by Dany Thivierge on -
Your flights are always so rock solid JL that I dont know what to think... you are a master at PID config!
This is a really good news and we need to test the heck out of it to be sure there is no other introduced bugs... do you have a video to go with this wonderful graph?
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Permalink Reply by John Campen on -
would it be likely to be in the MP version before the weekend so we can try it JL?
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Permalink Reply by Rui Manuel Cravo Marques on -
Guys, I'm sorry, I know this is a bit off topic, but for those of you who fly or have flown more than one type of multicopter, with approx. same dimensions, a hexa or a octo has any kind of benneficts compared to a quad besides heavier payload ? Thanks.
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Permalink Reply by Rui Manuel Cravo Marques on
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:) yes but I would like to know if regarding stability they are more stable or doesn't show great difference. I think there should be some difference because there are more motors trying to stabilize, but I 'm not sure since I've never seen one "live".
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DeveloperPermalink Reply by Marco Robustini on -
Absolutely more stable, Rui!
Just watch my videos with quad and octo, you can see a lot of difference in stability.
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Permalink Reply by Dave C on
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Another aspect of hexa's/octo's is the redundancy, being able to make it down safely if a motor or esc checks out. Marco, will your octo still fly with a motor out?
I'm not suggesting you try it though ;)
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Permalink Reply by John Campen on
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Dave a few weeks ago I had a motor failure on my X8 quad and when the motor stopped it kept flying as if there was no difference. APM completely compensated the difference and It flew for about a minute heading to RTL like that and then I landed it. ( i bit rough landing but thats from my poor flying skills) So yes for redundancy its very good
Its not very clear but about 40 seconds in the flight the motor ceased. http://www.youtube.com/watch?v=RPbx543JY4c
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Permalink Reply by Dave C on
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Thanks for chipping in John that's a great example of why eight legs are better than four....
Sorry what I should have said was its a great example of why four legs are good, but eight legs are better ;)
I remember watching that video when you first posted it and thinking, 'Ballsy take off, I like it!'
Thought exactly the same when i watched it again :)
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