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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DeveloperPermalink Reply by Randy on -
You could try resetting your eeprom to factory defaults. AP MissionPlanner's Terminal screen, then type "setup" and "reset".
The firmware will stay at 2.5.3 but the settings will all revert to their original. You would need to go through the regular setup process afterwards (i.e. push the Setup APM button in the APMissionPlanner's Firmware screen).
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Permalink Reply by Aerhead on -
Randy
I've done the setup and resettings thing and the PID numbers changed. I've reloaded the 2.53 firmware a few times and tried using a different computer. No change.
Firmware 2.5 with the right setting did work ok. I had the Alt_hold working and loiter work quite well. Now with 2.53 Altitude tries to work but just jumps around and you can't trust it at all.
Larry
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Permalink Reply by Crispin on
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This sounds like my problem as well.
Randy - I did the bench test and, to my uneducated eye, it looks to be the same as you suggested. As I was replying with the new log the PSU on my PC died :( Should have it back and running today.
Not sure how it could be a power issue though as it was fine on 2.* and suddenly 2.5.3 it's quite unstable...
Cheers,
Crispin
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Permalink Reply by Jonathan M on -
just tested 2.5.3 in my backyard. Seems pretty rock solid to me. Less random yawing.
I noticed that my simple mode didn't seem to be working. I don't believe it worked for me with v2.5 either. Is there a way to check, other than the MP setup screen, if it's enabled?
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Permalink Reply by Jonathan M on
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Just double checked. Simple mode definitely not working right now with V2.5.3 on my APM2
- Attachments:
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2012-03-26 05-57 1.log, 836 KB
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3D RoboticsPermalink Reply by Chris Anderson on -
Jonathan: Did you enable your compass and go through the declination/calibration process in the MP?
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Permalink Reply by Jonathan M on
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Chris,
Yes, I did, and my declination is set for my current location. The logged data shows the compass tracking yaw pretty well also.
I have been digging through the code to see if i missed anything and I noticed the SIMPLE parameter. Mine is currently set at 62. Previous code version param files have had a lower value. What does this parameter control?
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Permalink Reply by Jonathan M on
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I tried adjusting the SIMPLE parameter from 61 to 40 ( where it previously was in earlier firmware version), to no avail. I didn't believe that would solve the issue, but it was worth a shot.
Just to note, i have flown with simple on previous builds with no problem and no mechanical changes to my setup (3DR quad frame, APM 2.0). 2.5+ is where I haven't been able to fly. 2.5.3 is where I really noticed it, but I am pretty sure 2.5 was funky as well.
Any thoughts? Attached is my current param
- Attachments:
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v2.5.3_test1.param, 3 KB
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Permalink Reply by Geir Engebakken on -
If i remember correctly form another dicussion the SIMPLE parameter is a bitmask that defines which modes is to be run in simple.
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Permalink Reply by Eric Tweet on
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Just took my quad out for it's first real-world flight in the nice Alaskan spring weather (33 degrees F, winds 5mph).
First, 2.5.3 is pretty solid and responsive (I still have some tuning to do I think with STAB and RATE), and the alt-hold works perfectly again! There is still the throttle-yaw issue, however.
Loiter was nearly unresponsive and when I switched to loiter mode, the quad decided to go play elsewhere until I called it back (I stopped it when it was about 10m from the loiter set point). I assume this is just a matter of parameter tuning to get it to work properly.
Also, I imagine the yaw issue will affect loiter performance since the yaw action is not commanded by the Tx, and therefore the quad is no longer aligned to true magnetic directions... just a thought.
3DR Frame, 880kv, 12x4.5, 3000mah, APM2(AC2.5.3), Default parameters except: STAB P 3.5, RATE P 0.11
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Permalink Reply by John Campen on -
http://diydrones.ning.com/forum/topics/motors What would be the noticeable difference having 1100kv motors compared to 880kv motors on a quad?
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Permalink Reply by Denny Rowland on -
With 1100 kv you may need to go to 8x4 props. should be slightly better in windy conditions
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