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 Dave C on -
So.....
How much fun can you have with an arducopter?
Well here’s a start :D
Oh and it’s a lot better to watch in 720p, and turn it up loud!
As always, I will buy a better camera soon ;)
Arductoper 2.5. Rocking. from Kamakaze UK on Vimeo.
APM1, 3DR Frame, Standard Jdrones 850KV kit. 10*4.5 cheap plastic props. NO vibration mounting whatsoever, AMP just foam tape glued to frame, this is significant ;)
There is, of course, an ‘out-takes’ video ;)
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Permalink Reply by Dani Saez on -
WOW Dave, really cool video!! you sure had fun in this one!
I bend myself on your second FPV take off between those branches, thought I'd hit them :D hahahaha
Congrats man!
Can't wait for the out-takes!! ;-)
ps: I like your taste!!, You got the same color leds I have on my small Quad, you know, being from Barcelona.... ;-)
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Permalink Reply by Jan Schermer on -
:D this is cool
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Permalink Reply by Jason Wise on
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Im having similar issues to others with my hexa, my yaw is surging while attempting to hover
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Permalink Reply by TonyP on
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Hi Folks, new to the forum and ArduCopters (since December this year) and been having heaps of fun and crashes LOL. I like this release, however have come across a strange issue, which may be a bug.
If I go to terminal mode and run setup and then motors, I expect the motors to spin briefly in a clockwise direction from motor 1 in turn, however I get something different.
This is the sequence I get
M1 spins ok, stops
M2 spins, then slows slightly
M3 spins, then stops (M2 still spinning)
M4 does not spin at all, and then M2 stops.
Sequence repeats
This worked fine under 2.4.1, and I rolled back to 2.3 last night, and the motors test worked ok (if you recal you need the remote to spin up pais of motors).
My setup is the 3DR frame, APM1, 850Kv motors.
Thanks
Tony
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3D RoboticsPermalink Reply by Chris Anderson on -
Tony, we're updating that test in 2.5.1. You can try a beta (if you're willing to load with Arduino) here.
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Permalink Reply by Jonathan M on -
Chris, any explanation as to what has been changed for 2.5.1 vs. 2.5? 2.5 seems to be flying great for me currently, but if there is a hidden bug, I definitely want to change the firmware. Thanks
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ModeratorPermalink Reply by Graham Dyer on -
There's a list here if it helps: http://code.google.com/p/ardupilot-mega/source/list
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3D RoboticsPermalink Reply by Chris Anderson on -
You can see all updates in the changelogs here. No serious bugs, but little things that we've fixed or improved. We'll release 2.5.1 in a day or two, when testing is complete.
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