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 afernan on -
AUTO is not working well for the moment in AC 2.5.3. . I hope is in the Dev´s issue´s list of TODO.
Angel
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Permalink Reply by emile on -
There has been a recent change in the firmware to solve this problem. Please upgrade with latest and have a go. You nedd to fly some time to let the software adjust the average throttle to keep the hexa in hovering.
After a few minutes it should have a fairly good value.
Emile
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Permalink Reply by Cliff-E on -
My update on 2.5.3: ran the same waypoint mission 10 times on my 3DR hexa-- RTL, waypoints (still needs nav tuning!), land, loiter, alt... all working well. Very good job on 2.5.3 guys!
Interesting when I looked at the throttle trim value from auto-setting and it was 20 off from my manually-tuned value (512 self-tuned vs 532 auto). In getting a good trim, I manually hover (at least 5m) for about 30sec, switch to alt hold, go back to manual at the slightest dip, and switch back to alt-hold, etc... until I get a good hold. Then, I repeat the exercise while flying around very slowly so it can readjust and fine tune the value for level flight.
There are still alt jitters in still air (< +-1m), but within tolerance, and likely too stiff of a throttle_rate_P default value (using defaults rate pids for the hexa). Auto was solid if I was previously in loiter or manual hover then switching to auto. But, when moving (e.g. 1m/s) and switching to auto I either get a 2-3m dip in alt or it would randomly veer off while finding the 1st waypoint. For folks having auto issues: lower you nav's wp speed (make it 2m/s) and lower the nav p setting and see if it's more stable.
Only other abnomally is an occasional yaw jerk in simple mode. It corrects eventually. Stab mode works fine. Still investigating. Going to upgrade the Y6 to test out this afternoon.
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DeveloperPermalink Reply by Adam Rivera on -
Cliff: I am glad you had good results! Thanks for the advice on the tuning as well. Regarding your yaw issue: have you seen my recent blog post (http://diydrones.com/profiles/blogs/resolved-arducopter-2-5-3-yaw-i...)? Check that out and see if it applies to you. Thanks!
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Permalink Reply by Aerhead on -
Adam
I found out what was causing most of my problems. I had a piece of tape on the bottom of the board and as dirt from flying outside collected on the tape it became a resister. Cleaned off the bottom of the board and most of the problems stop.
Still the Alt hold is not as good as I was. It will jump up two feet and change altitude after some time holding. You can here the motors changing speed a lot more then with 2.4 . I'm using sonar and I'm flying in the basement so it's not real bad just not as good as it was. I have tuned the PIDs and it's flying quite well.
Larry
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DeveloperPermalink Reply by Adam Rivera on -
Very interesting. Thanks for posting back. I am really glad to hear it is flying well for you! If you are feeling ambitious you could post a video sometime :-)
Take Care,
Adam
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Permalink Reply by John Campen on -
wow amazing.! I also have outrigger arms and a top cap so if it flips it wont bust off all the props.
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DeveloperPermalink Reply by Adam Rivera on -
That is epic!
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Permalink Reply by Lloyd DeForrest on
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Here's simple question - when we install a new version of software, should we load and write the param file (dated Feb 2) from the downloads section of the wiki? or use default params in the code?
While I'm at it, is the proper way to load a new release?:
1) make any code modifications to the code
2) compile and upload using the Arduino IDE
3) issue an "Erase" in the CLI
4) issue a "Reset" in the CLI
5) reset the APM
6) launch the Mission Planner and do all the steps in the "APM Setup" page.
7) Clear the logs (if not already perfomed)
8) go fly.
I get better results using the APM Param file from feb 2. I know a lot of work as been done since then, and I expected a new param file for the stock 3dr frame, APM1 with 850 motors.
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Permalink Reply by Vincent Mees on -
I would first do a CLI "reset" and "erase" in the current version before loading the new one.
The rest is ok.
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Permalink Reply by Chris Barlow on
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Might be wrong but I think a reset is enough, mine was really playing up till i did this...
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