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.
Thanks Marco. Its a hexa and weighs around 2.2kg so quite a heavy beast. You may well be right on the Loiter_I, but it seemed to help damp the oscillation i was seeing yesterday.
Will try the rate_i increase and report back.
Tried increasing rate_i to 0.02, was quite hairy and flipped on landing doing a prop. Hey ho...
RickP, flip when landing just for this little increase? DAMN! :P
Marco - I think the issue I'm seeing is that when its gusty (and we're only talking 5-8knots), the hexa is correcting hard against the wind induced pitch/roll. In the air, this isn't too bad as the model stays roughly where it was.
When landing, it means you can get caught out, which is I think what happened - it tilted forward hard just as it touched down, building up some forward momentum.
Will try and do more testing - not saying that 0.02 is wrong - maybe I need to come down more on rate P or stable P to reduce the initial reaction perhaps.
hello, are we safe to use for hexa or should we wait for next version? ive just got myself a photohigher gimbal and would hate to crash this.
My hexa flies fine, but I haven't tried navigation functions, it flies a little different from the previous ones because of all the DCM changes.
Have you tried resetting board? Gyro is calibrated on every start, so it should read zero. It can oscillate slightly as it is very very sensitive (the same goes for acc) - it might look like it's oscillating bad but you need to look at the scale - something like +-3 is still fine. It is also sensitive to temperature so if you power it up in a car and then take it outside, it can stay offset until you reset again. It's best to recalibrate after first 2 minutes of flight to be safe.
EDIT: sorry, didn't notice the attachment - it doesn't look jumpy which is good, I can't comment on the constant offsets - but I don't think it's anything but raw values that translate to 0,0,0 in reality (after calibration) - I don't have my board here so can't check. If it read anything but 0 it would react wildly in flight and would be unflyable.
2.5.0 is imminent, you should wait...
One flipping Arducopter 2.4.1...
Flies smoothly, but all of sudden it flips. Yesterday night discovered that the motor 1 shutdown most often. Changed the esc of it, but no effect.
I have changed the ESC mode to nimh and LVC to low.
It flies smoothly but typically when I apply yaw it flips forward. Reason is that the front motor has shutdown. In handtest you can get the shutdown to happen.
Another weird property is that sometimes when I try to relauch after a flip / heavy landing the copter spins e.g., left side fast. By applying full left you can get it to hover, but it is pretty weird. Handtest shows that the left motors are more "sensitive" they speed up much faster when tilted (compared to right ones)
I have flown HK board earlier and I am a newbie to Arducopter, so this might be a user error as well / esc / soldering etc. error.
Wondering if the gyro / other sensors are in wrong position and should be calibrated. Tired with unarm - rearm, but typically no effect. Does arm calibrate gyros?
Have you calibrated the esc throttle range?
Yes I have calibrated. All motors start at a same time on launch.
The weird thing is that sometimes it flies nicely for 1 minute, and all of a sudden if flips. Then trying to relauch causes e.g., lean to left. Battery off & restart might return situation to normal.
If esc trottle was not calibrated would it fly nicely at all?
Thanks for a tip I will redo trottlecalibrations anyhow - one by one...
AMP2, recalibrated trottles. Will read the Wiki. Now I will give a test flight! :-)
Thanks for help!