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.
ArduCopter v2.4xp2: Here some videos samples of full AUTO-LANDING tests flights in HIL mode on AeroSIM-RC 3.83 with a Raptor 30 type helicopter (H1) done with the firmware ArduCopter v2.4xp2 (JLN mod). The official v2.4 firmware has been improved with a special Auto-Landing mod which uses only the BARO sensor.Tested with an ArduPilot Mega v1.4 connected in HIL mode on AeroSIM-RC v3.83 through the APM Mission planner.
My quad still gets the "leans" bad, log file attached. My APM2 has been placed consecutively on 3 different types and densities of foam from firm to very soft. Problem still persists.
Hopefully (please) can someone analyze the log and figure this out?
Was the leaning immediate or did it develop over time? What are your PID rate gains?
Graham, that graph shows that there is a *persistent* roll error even after you have landed? Was the ground sloped where you landed?
I notice that on the first event, it shows it pitches and rolls, but you only input pitch, is that right? Did it roll or not? When you take off the second time, you start inputing pitch up, but it doesn't appear to follow. Same with the roll. What was it doing?
It's always hard to anaylze these things because pitch and roll values are what the copter *things* it's doing, not what it's actually doing.
Hi Robert, in both cases I tried correcting the quad's attitude, more so in the second 'incident'. The first time it was moving backwards quickly so I inputted forward pitch to correct, (generally the quad does not seem respond to my input although it's "lean" may be lessened by my input but I can't be sure as it's a controlled crash at that point). The quad also always leans in this situation towards the right rear motor. Maybe it's motor/ESC on that side?
The ground has a very slight slope (< 2 deg) and the quad touched down at maybe 10 deg but went flat straight away in both cases, the second was a hard landing.
Did you stay throttled up between the first and second landing?
I don't think it necessarily has anything to do with which motor has the vibes. Could be the right/rear, but not necessarily.
Graham - I also have apm2 mounted with orings. I have balanced all as close as I can get - holding it there are no wild vibrations, yet I need to keep rateD at 0 or it leans after a minute or so. Assuming the board was too light, I added weight to it but with orings this is bad, the board decouples from frame and flies worse.
I am wondering if the better answer is to stop vibration at the source, the motor mounts. Even if we do great balncing, dirt, wind etc. will still produce vibration. A while ago someone (2.3 thread) made floating motor mounts and you can tell by the sound this is a great solution. Does anyone make floating mounts for standard motors? I cannot quite figure out the construction from his pix, but if anyone made some I would love to buy them.
This is not a big problem with apm1 - I have gotten away with really bad vibration and still it flies OK and I have no special mounts. I bet if Marco updated to apm2 it would be a very different experience.
I saw the posts on floating motor mounts, nice, but that's more engineering than I want to get into at the moment.
I will try some things tomorrow - I want to try add more weight to the board (in small increments), change the foam again, re-balance props, lower RATE_D and change motor/ESC around (to make sure it's not that).
Was hoping that this had some software solution because basically as more people get their APM2's online this is going to become an issue. The variation of vibration insulation used around the world will be so extreme that to get the "right" type and amount will be a real hit or miss affair.
I've ordered 3 of the rangevideo antivibe mounts Chris mentioned. They basically suspend the tray in between rubber bands. Until they arrive I'm gonna make my own similar affair, but tonight I am currently cutting up silicon cake cases to go under each motor, I'll report any improvements.
Also I've found that lightly rubbing sandpaper down the leading edge of the props can help alot, Occasionally they have sharp edges which cause the prop to buzz even when its balanced.
This is true. While it makes sense to make the unit mechanically smooth, there are many variables that can induce vibration and maybe some degree of software filtering of obvious vibration could help.I think I might try to get some auto hose and build some dampers ($9 x 16 for premade is a little pricey)
I would suggest sticking some lead plates to the bottom of your APM2, then putting it back on the foam. That will change the natural frequency. You should be able to get lead at the hobby shop, as airplane guys use it for balancing.