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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Permalink Reply by Balloon on -
But, Now in Thailand is summer season and have hard wind (10 - 15 km/h).
thank you.
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Permalink Reply by Chris on -
Hey
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 ?
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acc.jpg, 358 KB
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Permalink Reply by Eddie Weeks on -
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
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Permalink Reply by RickP on
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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..
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DeveloperPermalink Reply by Marco Robustini on -
Hi Rick, Igor has recommended not to use I-term in Stab section, but if you have better results ... :-)
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Permalink Reply by RickP on
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Must have missed that, I'll remove it. Should I put some I back in on the rate section then?
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Permalink Reply by RickP on
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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.
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Permalink Reply by RickP on
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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):
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DeveloperPermalink Reply by Marco Robustini on -
Sounds good!
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.
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Permalink Reply by Jan Schermer on -
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....
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DeveloperPermalink Reply by Marco Robustini on -
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.
http://diydrones.com/profiles/blogs/arducopter-pid-tunning-howto-vi... -
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Permalink Reply by Jan Schermer on
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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!" :-)
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