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: 116079

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Replies to This Discussion

Permalink Reply by Daniel Chapelat on April 3, 2012 at 12:28am

Hello Marco
My way of thanking you for your work
  it is: a wallpaper adopted!
Regards Daniel

Permalink Reply by Todd Hill on April 1, 2012 at 5:22pm

This is a photo of my setup and parameters.  The entire frame is my own design. Molded and machined components.  Body looks even cooler, update that later;) APM1/2560, 650kV motors, APC 12X3.7SF props, 4 cell 2650-5000mah packs,  and modular ESC stack.  

Attachments:
Permalink Reply by Glenn M on April 1, 2012 at 5:35pm

That's a nice looking quad! How much does it weigh?

Permalink Reply by Todd Hill on April 1, 2012 at 5:53pm

what you see without the gopro is .98kg. 

Permalink Reply by Jonathan M on April 1, 2012 at 6:58pm

Thanks for posting.  Very nice looking quad and lightweight to boot! What motors are those?  They look efficient :)

Permalink Reply by Jean-Philippe Hell on April 2, 2012 at 4:43am

Very nice quad, I like the video from onboard too, the copter's position is very stable.

Permalink Reply by afernan on April 2, 2012 at 5:33am

Compass magnetic field interferences

For those having this problems, I ´ve solved them in my custom setup by hardware. See this topic that I´ve opened to record experiences.

Angel

Permalink Reply by Aerhead on April 3, 2012 at 5:32am

Angel

I'm seeing yaw problems on my quad with a APM2 board.  Thanks for posting the solution.

For my octocopter I might go one step further and order a new APM2 without the magnetometer and GPS on the board.  Then I'll use the available cable to connect the them away from the EMF. 

Larry

Permalink Reply by Michael Krader on April 2, 2012 at 3:51pm

 I just wanted to ask to make sure about the esc/motor droping out prob that was supposed to be gone. went flying yesterday with 2.5.3 installed. things are much better but im still having problems with motors stoping and my quad falls out of the sky. ive done the individual esc cal many times and every time they all do like there supposed to. then i go to fly and sometimes i get a esc restarting just like when you first plug in or a motor just stops. throttle down and back up and back to flying until the next time. seems to happen quite frequent like every 30-45 seconds. everything is soldered, no plugs on motors or esc's.

apm1 2560 850kv 20amp esc gps mag no sonar yet. everything is diydrones stuff.any ideas. ill try to get logs in the next day or 2. hope ive given enough info.

 

thanks.

Mike

Permalink Reply by John Campen on April 2, 2012 at 4:03pm

Mike, Is it happening to all motors or just one? If its just on the one, then to be sure if its hardware or software related, did you try swapping the motors and ESCs around?  Or better still fit a new motor and ECS to than arm? Secondly what is it showing on Mission Planner on RAW Sensor, Radio Tab and Motor/Servo output? Does the one that is stopping and starting jumping up and down or just still?

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3D RoboticsPermalink Reply by Chris Anderson on April 2, 2012 at 4:57pm

Sounds like a bad ESC, odd timing setting on the ESC or a wiring issue. There have been no reports of software-related issues. 

Permalink Reply by Michael Krader on April 2, 2012 at 7:45pm

im getting it from 2 motors. left front & right rear. the raw sensor is a new on me, havent seen that one before. im still learning. i bent and broke a few parts yesterday so its going to take a bit to get it fixed. i will swap things around and see what happens. there just stopping when it happens.

 

i think im going to replace both of the esc's in question. have had to replace the other 2 allready. the timing is how ever they come from diydrones. pretty sure the wiring is good but will go over everything again.

 

thanks.

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