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 have question. You're fix DCM in library or code?
The DCM fix is in the library (AP_Math and AP_DCM). I have only used my current flying version (AC241xp2)... The main bug corrected about the DCM drift very well done by Tridge is located only in these two lib.
So, if you have a flying well version you may only update these two libs...
Thank you for your answer.
Re Hello Jean Louis
I followed your advice lines (# include "APM_PID_HIL_JLN.h" / file / Config for quadcopter model for HIL
/ / # Include "APM_PID_HELI.h" / file / config for the H1 type of helicopter mode on Aerosim HIL / /
# Include "APM_PID_JLN.h" / file / config for the real modelquadcopter BRQ) are present in "APM_Config.h" Mission Planner1.1.46 but refuses to connect. Position CLI is ok but can not connectFly position, I'll settle for official 2.4.1 which does not make me this,my meager skills do not allow me to define the cause.
Once again thank you for your answers.
Hello Chapelat Daniel, are you using an APM1 or APM2 ? the APM_PID_JLN (used for real flight is configured by default for APM2, you must edit and change it for APM1 if you're using APM1 and upload firmware again). If you're using APM2 I think you don't have to do anything to it.
Hello Rui Manuel
I use apM1, I return the land or a flight I made with 2.4.1, the landinghas unfortunately I was unable to controller a squall of wind, twobroken helices I can not comment on 2.4 .1 I have not had the time,this matim my idea was to test JLN xp2 2.4.1, I will do better to wait!
thank you for your comment I will try again to run JLN 2.4.1 xp2 with your index
Hello Jean Louis
I'm compiling with arduino (ArduCopter 242xp2) but when I want touse APM, I've not get the connection, you have an idea?
- I just buy AeroSimRC, I followed your tutorial but the plugin does not appear in the fenêrtre plugins so I can not access it while it is in the folder? Have you any idea?
Thank you good day
Have you set this as follow in the APM_Config.h
#include "APM_PID_HIL_JLN.h" // Config file for the quadcopter model for HIL
//#include "APM_PID_HELI.h" // Config file for the Helicopter type H1 in HIL mode on AeroSIM //
#include "APM_PID_JLN.h" // Config file for the real QRO quadcopter model
Ps: This setup for HIL is set for the APM v1
So I had similar issues JL, and since I was loading the HIL firmware through MP I didn't really ahve to reconfigure anything in APM_Config.h. The problem was that the AeroSim plugin included with MP didn't get recognized by AeroSim 3.8...basically AeroSim would say that the plugin is not compatible. Based on Marco's advice and help, I managed to get a hold of a much older version of MP(2.0. something) and tried that plugin which workd. Continued following the instructions on the dev team wiki, it would work but the quad would just fly on it's own before I could even load a mission script. Any ideas there?
Here my APMHil pugin that I am currently use successfully with AeroSIM.
You need only to copy the APMHil folder into:
c:\Program Files (x86)\AeroSIM-RC\Plugin\
and then on AeroSIM select:
PlugIn -> APMHill
I hope this will work for you...
Hi JL :) I was flying this version today and behaved very well, autolanding marvelous. I have just one question, in system.pde, line 438, there's the following line :
// debug to Serial terminal
The Serial.println, would be better commented right ? to avoid consuming time to the cycle, right ?