ArduCopter 2.5 released!
Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Enhancements:
- The first ArduCopter code release optimized for the APM 2. Leans and drift should be much reduced or even eliminated for most users. This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- On start-up, the yaw heading is updated with first successful mag read (so you should no longer see the slow rotation from north to your actual heading).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- addition of H1 swash plate type and bug fix for proactive yaw compensation for collective pitch changes for TradHelis.
Tuning:
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.
While some testers have reported very good flights with the default PIDs, some have reported that this release is a little "sharper" due to the DCM improvements and have found they needed to:
reduce stabilize P by 10% (i.e. 4.5 -> 4.2)
reduce stabilize D by 30% (i.e. 0.15 -> 0.10)
increase rate D from 0 to 0.001
Tuning loiter can be tricky. Refer to the discussions which will appear below for more community feedback on what parameters work best.
Please post your feedback in this discussion. For enhancement requests and bug report, please add them to the arducopter issues list. When possible please include logs (tlog and/or dataflash) and tell us whether you're using APM1 or APM2 and what version of the software you're using (presumably 2.5 but tell us anyway!).
Thanks for this release go to the developers (both in the core team but also those who have provided bug fixes through the issues list) and also the community members who participated in the previous release thread and provided some great detailed information in the form of issue reports and logs which allowed us to nail some bugs!
Replies to This Discussion
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DeveloperPermalink Reply by Marco Robustini on -
@David: I've over 120 flight in the "2.5 alpha test session" without this issue, with like some 150 RTL attempt.
If you think there's real problem about this please open new issue here.
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ModeratorPermalink Reply by Graham Dyer on -
Marco, it only seems to happen on a fresh new install after full erase on the first flight or two. It hasn't happened to me again.
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Permalink Reply by Allen Bishop on -
New specification for RETURN TO LANDING. Very accurate function. Unless there is a significant wind, your aircraft will return to the point it is over (well, maybe slightly "below" where it took off from. :-)
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3D RoboticsPermalink Reply by Chris Anderson on -
Kevin: Are you using 2.5.3?
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Permalink Reply by Norman Sanchez on -
ready and loaded in the morning quad large field test apm 1, 10x4.5, lv EZ4, frame and engine 650v2 XAircraft, 10amp esc, 1350 kg, 900xbee, bat 2650,
thank you all.
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Permalink Reply by Taylor Davis on -
Awesome! Thanks guys!!
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Permalink Reply by Norman Sanchez on
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Randy.
Can, the rc_speed to 500hz?
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DeveloperPermalink Reply by Randy on -
Norman,
You can change it to whatever you like. Now, this won't affect the update rate of the controllers (i.e. the things checking the difference between your real attitude and your desired attitude) so after a point I wouldn't expect it to help much. At some point your ESCs won't be happy about the rate...but different ESCs seem to be able to handle different rates.
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Permalink Reply by Dani Saez on -
Congratulations dev team, this release looks really great.
On the other hand last reports on Y6 where not that good.
Has Anyone flown a Y6 with 2.5 successfully?? I'm worried about last messages reporting a turning behaviour on take off... unflyable...
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DeveloperPermalink Reply by Marco Robustini on -
Thanks to the whole team and to all users who knew how to wait!
Ehm... why the thread is under the section "ArduPlane"? :P
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DeveloperPermalink Reply by Randy on -
Marco,
Big thanks to you Marco for all the testing, feedback and helping us keep organised!
Ooops!! Fixed! :-)
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DeveloperPermalink Reply by Marco Robustini on -
It's a pleasure, Randy!
I hope that our efforts have brought best results, all users must confirm it.
I consider this a very reliable release (milestone), during testing I have performed over 120 flights without crashing my quad and loosing control, and during the test is not easy to obtain these results.
... but now: do not start to hang bottles to your quads, eh?! :-)
Bests,
Marco
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