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.
But, Now in Thailand is summer season and have hard wind (10 - 15 km/h).
ive uploaded 2.4.1 and tested my Hexa in the Field. But it isnt stable in Loiter. So i investigated the problem and saw, that my Gyros seems to be not okay. So i have to ask. For me is it so, that the Gyros should be zero, if i dont move the Copter. But they dont. Look at the Pic.
The ACC Values (ax, ay, az) are moving too. So, if havnt movement, i shouldnt have an acceleration, or?
Is it normal ?
After many attemps of tuning Loiter and Nav I have found Loiter to just not work on 2.4.1...
The Alt hold works great, but the copter just drifts off or tries too hard to get back... I have read about this
from others also.. Eddie
Just ran 2 more batteries through my hexa (jDrones, 880kv, APM2) with the latest git (692227). Conditions had picked up a little from the flat calm of this morning but it was quite gusty. Nothing one minute, 8 knots the next (had Dad holding the anenometer at ground level, gust probably more 5 metres up).
What I found with loiter was that with tuning, I could get it reasonable stable for a while - but then oscillations started and they got steadily worse and worse - it would correct, then overshoot, then correct more aggressively, then overshoot more.
I also found that my previous tuning in stable ended up being far too aggressive in the gusts - so I was backing that down - maybe related to the overshoot in loiter.
This is the config I ended up at, before I ran out of flying time..
Hi Rick, Igor has recommended not to use I-term in Stab section, but if you have better results ... :-)
Must have missed that, I'll remove it. Should I put some I back in on the rate section then?
Tried that (git latestest, 2.5) - and without the STAB I, for the first time I saw the copter yaw uncommanded. Only once, so could be a co-incidence. Charging batteries to do some more testing as conditions are better than forecast....
Flat calm here, and stable mode is silky smooth now - can take off and hover for 10s of seconds without touching roll/pitch. Bit more tuning and loiter is approaching the same level of performance, but I worry that I'm fooling myself and going in the wrong direcition in the zero-wind weather...
Seriously - the performance in stable is so impressive compared to 2.4.0/2.4.1.
Wind gusting a bit now, and loiter has been fine - long enough to do a multiple minute loiter in the space of my yard. Current config (APM2, git v2.5 (07f19e63f), jDrones Hexa-X 880kv):
Try to increase Rate_I to "0.02", and i think Loiter_I "0.450" is too high, but depends on the mass of the quad.
Marco, can you please give us a few hints how to tune the I-terms? From what I see it's mostly guesswork, and while I can tune Ps without problem, how tu tune I properly is beyond me....
It's not complicated if you understand what is the Integral Term.
Greatly influences the attitude to maintain the angle.
This is an excellent guide, complete with video.
Maybe that's the thing - I don't understand what Integral Term is, and the video doesn't really explain it. It just says "add a bit to I and it's yummy!" :-)