Developer

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:

  1. 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.
  2. Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
  3. 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).
  4. Increased output rate to ESCs to 490hz.  This update rate is also user selectable using the new RC_SPEED parameter.
  5. hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
  6. improved baro filtering
  7. fix to dataflash logging of Mag heading
  8. 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!

 

Tags: ACM, APM1, APM2, Heli, Quad

Views: 115143

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Replies to This Discussion

Permalink Reply by heikki.tukiainen on March 18, 2012 at 7:48am

  Is the camera pitch and roll on the APM2 working on this release?

Seemed to work on my x-quad. I have issue of Gimball servos affecting the voltage of the board - especially connecting to MP is an issue. Disconnecting the servoleads to the servos makes the issue dissapear.

Many thanks on my behalf to the developers! :-)

Permalink Reply by Fred on March 18, 2012 at 8:28am

Heikki, i had the same problem,solved it by mounting a 5 amp ubec

Permalink Reply by Ondřej Bylok on March 19, 2012 at 1:09am

Hi Brian, after loading the new release 2.5 to my hexacopter (APM1), everything looks fine even CAM_P (R) _G can be changed :-). I'd just like if these parameters gave the set as well as other parameters in the table. I mean user-friendly.
Thanks Andy.

Permalink Reply by Bernard Vi on March 18, 2012 at 9:26am

I need help please.

I flew today with my octo and the new firmware v.2.5. I found a problem that I can not disarm the motors after the AUTO TRIM mode. It continue to run despite the throttle is at 0. I have to cut the battery to stop the motors.

Thanks

Permalink Reply by James Friend on March 18, 2012 at 9:58am

Hi Guys

Well just loaded 2.5 and had quick test flight in the last fading light of day, and on the last fading power in my battery - and can only say WOW. The difference is obvious. I am flying an APM2 Quad, 3DR frame 880 KV motors 12 x 45 props. Rate Roll/Pitch P at 0.095 and Throttle rate  0.35 as on previous version. 

Very new to this, only completed quad last week and this is my first R/C flying too, and would just like to add that I am very happy with APM2 in general. Despite my inexperience I have not yet broken a prop or anything else and the Quad has been pretty much flyable from completion. I have a drift issue but I believe it's a leveling / vibration issue and not due to the controller. This version will make it much easier to sort out I'm sure. 

Cheers

James


ModeratorPermalink Reply by Graham Dyer on March 18, 2012 at 10:56am

Tried out onboard video with v2.5 after having sorted out vibration insulation problems for the camera.

http://www.youtube.com/watch?v=GhHOx-5IlPk


DeveloperPermalink Reply by Marco Robustini on March 18, 2012 at 12:15pm

Fast oscillations during the descent... try increasing RATE_I.

Permalink Reply by Eddie Weeks on March 18, 2012 at 11:15am

Just crashed my large Tri-Copter....AMP2...2.5..

In Stab... Flying forward... Pulled back hard and the Tri went noze up 90 deg...  This has happend before many months ago and many versions ago... though it was gone... 

Loiter did not work so well either... Alt hold (baro) is really good ... plus or minus a few feet...

In the Graph below I am faily sure these lines shoud not diverge !!

Attachments:

DeveloperPermalink Reply by Marco Robustini on March 18, 2012 at 12:17pm

Ops, i'm sorry for your crash, I hope the damage is minimal or absent.
Absolutely, this two lines should not differ!
Have you tlog?

Permalink Reply by Eddie Weeks on March 18, 2012 at 12:28pm

yes... I will post it no problem... Broke a Carbon rod and a prop..  no worries..

Here is what I think the tlog is.. I dont know for sure because the file name are not simular

and the tlog file will not play on the mission planner... ?

Permalink Reply by Eddie Weeks on March 18, 2012 at 12:30pm

tlog file...

Eddie

Attachments:

DeveloperPermalink Reply by Marco Robustini on March 18, 2012 at 12:38pm

No, wrong tlog... try to see it first with the "play" function in the planner.
Sometime the planner doesn't play the tlog if you are connected to your APM.
In this case close and start again the planner and try to play without connecting.
Eddie, please open a new issue about this event, thanks!

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