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: 115044

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Replies to This Discussion

Permalink Reply by Jan Schermer on March 20, 2012 at 12:52am

this sounds like it should be on in Stabilize mode too, Loiter will have GPS in addition

Permalink Reply by Dave C on March 20, 2012 at 1:24am

This sounds like a great idea to me, need any test flights - i have me a new quad, a 3DR! 

Permalink Reply by John Bond on March 20, 2012 at 7:42pm

I'm curious about the "1.2 seconds of GPS data lag".

Are you saying position info output is 1.2 seconds behind reality?  That would be really bad.  Is the MTK's Nav Speed threshold set to zero ($PMTK397)?  By default it's set to 1 meter per second meaning it needs to see a speed greater than that to output a different position.  Not good for trying to make something hover.

Of course inertials in combination with GPS is the way to go, but if the Nav Speed threshold isn't zero setting it there should help.


DeveloperPermalink Reply by Marco Robustini on March 20, 2012 at 1:30am

Yes Rana, there's little drift due gps error... the beep is only a timer in my tx (i don't touch the stick in all the video), beep every one minute! :-)


3D RoboticsPermalink Reply by Chris Anderson on March 19, 2012 at 12:48pm

Thanks to everyone for the flight reports and logs, which are very helpful. Going from private beta testing to public release increases the number of test flights by orders of magnitude, which has been great in catching a few edge cases that hadn't come up in the dev team testing and sim process. Most of these are pretty simple one-line bug fixes, and Randy, Jason, Tridge and others on the team have already fixed most of them for what will be the next maintenance release, 2.5.1. It's in the Git repository now, but if you don't want to use Git you can load the code from the downloads section here. 

Fixes include catching an unititiated variable that caused Loiter to zip off in some direction at first use under some conditions, some default gain adjustments, a fix that won't let you enter way out of range parameters in the Mission Planner, and a bunch of others you can see here. 


DistributorPermalink Reply by Dany Thivierge on March 19, 2012 at 12:54pm

Great one Chris and dev team!  

this will make things really smooth now.   Cant wait to load it and test.  

And ETA for the Mission Planner push update? 

Permalink Reply by JP on March 19, 2012 at 3:00pm

I got just my quad flying. I can't wait to try this. Thanks so much for your hardwork! I will post some additional feedback when I get my new props and have a chance to fly again. ;)

Permalink Reply by Vincent Mees on March 19, 2012 at 3:05pm

Just flew 2.5 with default pids and all I can say is WAW.

I flew in no wind conditions. I noticed allmost no drift an could keep my hands of the tx for a lot of seconds just in stable.

AH was very good, but still had some drops, propably due to cold.

And loiter just stayed in one place with minor drift due to gps pos shifting. I even pulleda leg for several metres and let go. Quad returned nicely to its previous postion.

Logs are included. Pleaselook at sonar height.  

Attachments:

DeveloperPermalink Reply by R_Lefebvre on March 19, 2012 at 3:19pm

Does anybody know if the Ch7 Auto-trim works?  I tried using it, set Ch7 to Auto-trim in MP.  Took off, got into a hover, flipped Ch7 high, hovered a bit, flipped Ch7 low, but it didn't seem to do anything.

Am I doing it wrong?

Permalink Reply by PACEFE on March 19, 2012 at 3:30pm

Hi,

were do I find the manual compass calibration mode in MP?

Regards,

Pablo

Permalink Reply by Umer on March 19, 2012 at 11:56pm

Hey guys, I am flying Jdrones Arducopter Hexa 880 Kv 12x4.5 props, I am using Arducopter V2.5 Hexa X. I have attached the default pid values. Is there any value that needs to be changed for my Hexa X??


DeveloperPermalink Reply by Randy on March 20, 2012 at 1:43am

Set your THROTTLE_TRIM to about 450 to save you from the alt_hold issue that everyone else is bumping into!

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