Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
I just downloaded the compleate mission planner and now the option is avilable.
Thought that updating was the same as downloading the compleate code.
Micro Quad using AC 2.5 code
When the wind is blowing hard days and days... things like that happens at home:
This is a micro custom quad I´ve done:
- Structure using two wood bars covered with shrink tube to avoid vibrations; 230 mm motor to motor, 230gr weight. Propellers very well equilibrated (a "must")
It flyes sooo well with AC 2.5 (default PID´s !!!). See the video flying
This extend the family of AC to the (lower) limits.
Nice Work Devs !!!
But...i cant reproduce this nice Flying with my Hexa. (Flyduino)
I see, that u all have good Videos of your Quads, but with my Hexa, it isnt so good.
I tested the Frame / Motor / ESC Combination with other Flight Controls (MultiWii, Hooverfly, Wookong) and its working.
So, u revistited the Hexa Code, but i cant say, that my Hexa is flying good with the new 2.5. Yeah, its flyable, but not as good as the videos of the Quads here. I did nights of PID Tuning, but it flies not good.
In the past, we tried together to find out, whats wrong, but we havnt found a solution. I heard that some Hexa pilots have no problems, but if i see there Videos i see the same problems, that i have. They speak about stability, but it seems, that i define stability another as they.
So, whats the solution? I tried the Arducopter and the 2.5 Code on my Quad. It flies very well. So, can it be a Code Problem?
I also have FlyduSpider and wasn't able to tune it with 2.5. What are the problems you're having? Mine yaws randomly, goes crazy randomly when disturbed (really randomly). Looks like vibrations but that's not it. It was sweet for 2.4.2 if it were not for software problems...
Random yaws movements are mostly related to interferences between ESC´s and magnetometer.
This is some kind of "misterious" to solvet since there are many factors that affect.
Some recomendations are:
- increase the distance of ESC´s (and cables) from magneto
- swing around all power cables (this helps a lot)
- change positions of ESC´s
You can check this effect by ploting log´s yaw signal vs thrust (power). You will see interferenced signal when thust is hight.
Hope this can help you
That's not it - in my case it yaws and holds - it would not do that if it was interference problem (it would yaw during interference and then yaw back, right?). Also, it started with newer software versions while my hardware hasn't changed. And the power distribution is good distance from my sensors... There were more people complaining about this, I hope we're not all having interference problems, but for now I rule it out.
My Problem is the absolutly NOT stable flight. It nicks, and rolls , like wobbling, but its not an oscillating, its more like a spiteful horse. If i deactivate the Compass, its the same. Ive the problems with the "root flight mode", acro, stable and so on. Sometimes, my Hexa isnt responding to my rc input. Sometimes it does movements, that i dont given. Like nicking hard and flying away. Its very turbulent in the air.
My Sensors are all working properly, so its not a hardware problem.
I´ve only 2 modes, how my hexa flies: very sluggish or wobbling. So i tried all possible PID tunings. Dont work. I showed in some Videos my Test Flights, in this i showed how the Hexa flies with e.g. the MultiWii Code. Works. But i would fly with the AC. ;)
Flown another Systems on this Hexa. Works very well. So i have to search in the AC Code. (or u, because im not a coder). Actually i havnt my Arducopter here, so if i have it back, i will post some logs.
As i said, maybe have another ppl a different opinion of the definition of "stable". MultiWii in my Hexa is stable - AC isnt. So i hope we can dig in the code and maybe theres a problem.
This is EXACTLY the behaviour I'm getting. It is stable one moment - for a moment - then nicks violently to the side, or does a wobble. Sometimes it responds instantly to input and sometimes it "builds" something inside and tries to fight me for a while. I thought it was me fighting some I-terms, but even with all I=0 I get the same result. It flies better with some Is for Rate because my CG is a little off when hauling a camera (though I'd expect the I to be need in Stabilize - but it does only harm there). Another issue is when II do a fast translation it would yaw (not always), sometimes even when just hovering.
At one point I had it so carefully tuned it stayed in one place like it was loitering (even with slight wind), and then run amok in an instant.
Multiwii also works for me but I don't like how it flies compared to when APM works, but at least there's no sudden erratic behaviour - It's just consistently less stable :)
I'm really surprised most people here like how 2.5 flies - it must be something specific to us, like sensor placement or motor layout (but flyduspider is extremely precise in CG and does not vibrate nearly as much as F450 f.e.). I really have the feeling most people getting problems are on flat hexas.
How is your controller mounted on the flyduspider? Directly above the plate, or do you have a skyscraper in there like me? :-)
I know, but it's almost the same ;) I wanted to see it because I was wondering how APM fits on the frame and I want to get the original APM myself - but I'll likely wait for the ARM version - tarduino make me want to vomit the more I know about it - like the rest of the last millenium RC stuff it makes me think about steam engines :-P pun intended :)
Your motors are KDA 20-26M or something like that? I still plan on making larger arms and putting some more powerful motors with 10" props on that. Paul said most spiders are <1kg - mine is 1.5kg and still climbing as I add stuff so it's gonna need some overclocking soon. I wish Paul made a larger spider instead of the FCP :(
Mmmm.... your problems are others i think... i talk only about "yaw issue", not "nicks violently to the side or does a wobble".
In my little xquad and heavy X8 I do not have these strange behaviors.
I think you have something do not like your APM!