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 Chapelat Daniel on -
Hello everyone,
I tested 2.4.1 this afternoon with little wind, personal configurationX: weight 1542g, 600mm oc, 880kv motor, propeller 12x4.5
Pid with normal
Stable: good (setting a polish up!)
Hold Atl: really bad (suremment setting a polish up!)
Loiter: impresive! very stable with slight drift crosswind but the wind is in 1m2
unfortunately I could not use because of problems APM1.42connections?? (working at home?)
presence of a high voltage line is this the problem? in your opinion?
good evening to all
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Permalink Reply by Don Brooks on -
digital motion processing. My understanding is that the new MPU-6000 sensor package on the APM2 supports it, but that it requires software licensing from the manufacturer to enable it.
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DeveloperPermalink Reply by R_Lefebvre on -
Guys, we missed 2.4.1 from the downloads section. It never got uploaded before new changes when in for 2.4.2. However, I managed to find it, dust it off and upload it for you. ;) You can download the 2.4.1 zip if you want. It is pure 2.4.1 and does not contain any of the changes that have happened since. It's exactly the same as what you get from MP currently.
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DeveloperPermalink Reply by Marco Robustini on -
ArduCopter V2.4.2 (incoming, daily GIT fix of 2.4.1) - Loiter improvements test:
Revision: 9a8e380dda70
My daily video with loiter test, after some improvements by Jason Short and Andrew Tridgell.
Now NAV parameters not affect the quality of loiter.
I also tested "unwillingly" the solidity of the i2c bus, flying for a few minutes without a compass with the i2c bus in shortcut due a little bastard microball of tin.
My loiter parameters:
LOITER_LAT_D,0
LOITER_LAT_I,0.1
LOITER_LAT_IMAX,3000
LOITER_LAT_P,1.6
LOITER_LON_D,0
LOITER_LON_I,0.1
LOITER_LON_IMAX,3000
LOITER_LON_P,1.6
LOITER P: 0.2
LOITER I: 0.01
-= Marco =-
(AC Dev Team)
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Permalink Reply by Rui Manuel Cravo Marques on -
Yes, very impressive, no overshooting, let's hope this can be replicated by all of us :) Jason, Marco and all the devs congratulations.
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Permalink Reply by Dave C on -
Oh, now that is truly lovely!
The errors just seem to be purley gps based, when it gets where it wants to be it stays there! It's got the same sort of pattern i see on my traces when my quad is sat on the ground!
And hilarious proof of point frisbee Marco, and i see you have the sonar working well. Great stuff.
Did you try with just baro? I'm finding it tricky to get back to 2.3 levels of alt-hold without the sonar.
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DeveloperPermalink Reply by Marco Robustini on -
No Dave i'm sorry , I have not had time to test the baro precision, I try and tell you tomorrow.
However I am sure that the gps is a mistake, and I always flew with 11 active satellites.
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Permalink Reply by Dave C on
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Any chance i could try this out then? At my own risk of course ;)
By 'mistake' do you mean that the slight (very slight) wander is because of GPS wander, or that I'm mistaken and it's something else?
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