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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Permalink Reply by Anis Nielsen on -
Evan, Somewhere earlier in this thread, Randy explained :
THROTTLE_TRIM parameter is too low, After an version upgrade all your parameters are reset to the defaults which is 350 for this parameter. It will slowly update itself if you fly around in stabilize mode for a while and maintain a somewhat constant altitude.
You can take a short-cut though and just go into the configuration screen of the AP Mission Planner and set it to 450 or maybe even 480. That looks like the value you need.
From this page :
http://diydrones.com/forum/topics/arducopter-2-5-released?xg_source...
In relation with switching to alt _ hold mode and some other
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Permalink Reply by Evan Frazier on -
Thanks Anis! That was it. Sorry guys - I thought I'd read the whole thread but I guess I missed that. Seems to be working now hand held. I'll give it a try outdoors tomorrow. Wierd in a way because I spent quite a few batteries hovering it around etc. I guess I don't totally get how it auto-trims that value.
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Permalink Reply by Anis Nielsen on
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Great to read Evan ! I guess there will be some more asking same thing in the futur, huhu ;
Might be good to write a bit about it in the first post of this release thread, to lower futur false disapointments and requestionning ..
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Permalink Reply by Todd Hill on -
Y6 is now flying awsome! switched to a beater frame to fiddle with the PIDs'. Stab_P had to be decreased considerably. Cranked up Stab_I, Stab_D and Stab_Yaw and this thing now flies on rails. Like my quad Altitude hold and Loiter is the best yet. Using APM1/2560.
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Permalink Reply by Dani Saez on -
Hi Todd,
I flew my Y6 yesterday at the indoor, and it flew very stable from the start, had also had to reduce STAB_P quite a lot, what I had not time to tune was the yaw, wich kept beeing too much abrup (I and D at 0). I'll post some video tonight when I get home, as well as the PID's; could you post yours to compare please ?
I'll also be testing this evening at our field to check outside flying. I'll keep you posted, but this one is a pleasure to fly! Congrats once again to the dev team.
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Permalink Reply by Todd Hill on
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Dani, here are the parameters for my Y6. Using 1300kV motors and 3 cell 5A pack. I will be working on the parameters for my larger Y6 builds over the next couple of days. I will record some flight video today showing how well everything works.
- Attachments:
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Permalink Reply by christina Belfiore on
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yay! finally can't wait to build mine
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Permalink Reply by Keith S on -
Nice morning today and noticed 2.5 was released, so I did a mission planner update to my new 3DR w/850kv motors and APM1. I think I followed the online manual to the "T" and headed out to the field for a maiden flight.
I put it in stabilize mode for a few minutes and tried the alt-hold after that, that didn't go well and switched back to stable mode. After a while, about the 8:39:10 time stamp mark I lost stability then again at 8:39:30, and 8:40:46 & 8:41:54. Then at 8:43:23 it flipped and bent a motor shaft on me.
I been trying to understand what went wrong all day and thought I ask for some help. Is this the right place to ask?
I'll share my log file if it helps and a video too soon.
Keith
- Attachments:
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2012-03-18 08-30-25.tlog, 1.3 MB
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DeveloperPermalink Reply by Adam Rivera on -
Keith, I had a look at the log and video. From what I can see in the log, nothing on the APM side is goofy (but I am no expert in log analyzing). Are you using bullet connectors? It seems more likely that an ESC or motor failed. Let me know if you can confirm. Thanks!
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Permalink Reply by Keith S on
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Adam, Yes I am using the stock bullet connectors. I had to remove the prop afterwards because of the bent output shaft, but looks like it performs ok.
I dont believe it was a motor because earlier in the flight it dropped to the left and the right.
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DeveloperPermalink Reply by Adam Rivera on -
Keith, I looked through it again and still couldn't see anything APM side. I will see if any of the other devs have time to take a look. I know that using bullet connectors is discouraged because several users have had issues with flipping because of them. You may want to add a touch of solder to the connectors.
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