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: 115207

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Replies to This Discussion


DeveloperPermalink Reply by Randy on March 18, 2012 at 12:03am

Graham,

     We're looking into your issue.  I can definitely see that your throttle is falling immediately after you engage altitude hold..the question is why..


DeveloperPermalink Reply by Randy on March 18, 2012 at 12:21am

Graham,

     So the issue is your 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.


ModeratorPermalink Reply by Graham Dyer on March 18, 2012 at 12:39am

Thanks Randy, will try that. Noticed when comparing params to my previous setup that the THROTTLE_TRIM parameter was 423 but is 408 on the new. (I did a full erase before loading 2.5 then did full setup but kept all default params)

 

Also how do I get a more direct feel with minimal lag for throttle stick?


ModeratorPermalink Reply by Graham Dyer on March 18, 2012 at 12:58am

Set it to 450 and flew for a few minutes, had about a meter drop in altitude on switch, reconnected to the MP and it is now at 466.

Quick questions: so will it change by itself until it settles on the right value? And will that value stay set or will this happen on every flight?


DeveloperPermalink Reply by Randy on March 18, 2012 at 1:43am

It saves it to the eeprom when you disarm your motors so it should be ok in future flights.

 

You can see the effect quite clearly in the logs by the way..if you graph the "rc3 servo_out" value from the "CTUN" messages.  this is the final output to the motors.  Other important factors that contribute to that number are the "manual boost" column which shows what the pilot's input via the throttle stick is having (there's a large deadzone but above and below that there will be an effect on the throttle going out).

 

Also you can see the initial throttle_trim used when ALT_HOLD is engaged, it appears in the column just to the right of the MOD, ALT_HOLD message.

Permalink Reply by Dave C on March 18, 2012 at 4:57am

I had the quick drop on first attempt, i think because i went straight in alt-hold mode. After a quick hover all was fine.

Permalink Reply by Crispin on March 18, 2012 at 9:48am
Thanks for the new release guys! Can't wait try it out.

@Randy
Is the norm to save flight stuff once you disarm? Quite often I fly till the battery is low, land and unplug while armed. I would nit see the thebenifit then.

Would it be considered bad practice to do this and should always disarm before unplugging the battery?

DeveloperPermalink Reply by R_Lefebvre on March 19, 2012 at 6:17am

It's probably wise to always disarm before you go sticking your hands anywhere near the quad.  And that has nothing to do with saving parameters. ;)

Permalink Reply by Eddie Weeks on March 18, 2012 at 6:18am

Yes... Some thing happen to me... Broke all kinds of stuff...  AMP2.....2.5...

stock param execpt Stab_P Stab_Yaw...

On large Tri-Copter

Permalink Reply by Eddie Weeks on March 18, 2012 at 7:29am

update... Set Thro Trim to 530.. then the alt hold worked again.....

Tuned Loiter but unable to stay in a 100x200 field... out of options..

Permalink Reply by David Leigh on March 19, 2012 at 5:52am

Hi Graham,

I have experienced exactly the same problem.   Mode select of ALT_HOLD  or RTL both cause the Quad to fall to the ground.   With same hardware in 2.4.1 I did not have this problem.

This was my first try of 2.50 today I have a LOG dump available if required by Development team.


ModeratorPermalink Reply by Graham Dyer on March 19, 2012 at 6:06am

Likewise I did not have the problem with 2.4.1, I also did not have the problem with v2.5 alpha from the git either so that is a bit strange. Anyway the fix is posted above by Randy, test somewhere safe, ie 1 foot off the ground :)

(BTW, mine has now crept up to 498)

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