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: 115106

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Replies to This Discussion

Permalink Reply by Vincent Mees on April 5, 2012 at 2:40am

IMHO the latest version is quite stable compared to v49 but still has some minor probs like the yaw jumps.

The rest should be tuneble with PID's.

I've some flights the last day that I can say its looking as good as v49. But better??? Not yet.

Permalink Reply by druckgott on April 5, 2012 at 8:36am

Hi, I compare it also to 2.0.49 because this was the best one bevor for me.!!!

Permalink Reply by Rui Manuel Cravo Marques on April 6, 2012 at 1:15pm

Hello. I've flown 2.5.3 (download area version) for the first time today. I had some strange behaviours. I'm using a xaircraft 450 pro frame wich seems to me, very vibration resistant, or at least calibrating via hand, I almost didn't feel any vibration. Also, I mounted my boards using silicone washers and I have 2 moon gel pads under, so vibration here don't think is the problem. (using APM 1.4 2560 and oilpan) First, the RATE P seems to be much higher with this configuration, I don't know if the gains were changed from 2.2, but I use to have 0.080 on my alum frame with 1600gr and 60cm motor to motor, now I'm using 0.130 with this one wich has about 50cm motor to motor and 1500gr. Tuning by hand, I could go with RATE P as far as 0.300, then I started to get oscillations, I lowered to 0.220, no oscillations on hand, but on the ground and in real flight it oscillated, so, lowered to 0.130, good. I did not have any yaw issues so far, but entered the declination as I always did. I have the RC_SPEED param at 490, ESCs armed ok, worked ok, lifted, flies, but, I had 2 sort of power drops. This happened both in STABILIZE and in LOITER. The feeling was like having a "serial.print" or something breaking the fast cycle. Do you think this can be an ESC timming issue ? I dropped RC SPEED to 400 now to test it tomorrow, but in my oppinion this version is a bit "nervous". It was almost night and I could not test loiter long time. I engaged it twice. First time, it started to climb maddly, the second, it maintained alt with 40cm +/- variations, but it stood in place for some seconds then it went to another place on it's onw about 5mts away. Loiter and nav params are default, I've only tuned RATE P at this point. Anyone having this kind of issues ? 

Permalink Reply by wilson javier madrid sossa on April 6, 2012 at 9:35pm

hello I would like to know if you have or know how to change the code to use ultrapwm speed control as they work from 200 to 1200, I appreciate the help you can give me ... thank you very much my mail if something is wilsonjms@gmail.com I write fromColombia

Permalink Reply by Umer on April 7, 2012 at 2:45am

Recently flown 2.5.3 with arducopter jdrones hexa. it tends to move in the backward direction. Any ideas?

Permalink Reply by Chapelat Daniel on April 7, 2012 at 8:34am

Hello all
I did a test 2.5.3 (just  Stabilize mode) with this configuration:
CHASSIS FRAME DJI F450 X config
880 kv motors x4
ESC 41A x4
  Propeller 10 x 4.5
I found him very nervous and especially while I stop when he got aswitch in brutalementent inclination (lower side
right) - why?
I attached the log file thank you to take a look to find the fault.
Daniel

Attachments:
Permalink Reply by Michael Krader on April 7, 2012 at 8:27pm

ok well i finally pulled the logs. these are the last 3. this is going back to my post from a couple of days ago on page 46.

 

 

Attachments:
Permalink Reply by Balloon on April 8, 2012 at 9:19am

Today, Nice loiter 

Attachments:
Permalink Reply by Jason Tinacci on April 8, 2012 at 10:30am

Hi all,

I'm wondering if there are new default params for the 3DR (850kv 10x4.5) that coincide with 2.5.3? The latest ones posted here are from February 2. 

I've loaded 2.5.3 on my quad and am having a couple of issues:

- quad drifts (pitch) forward in all modes (haven't tried acro)

- in loiter and alt hold it drifts forward and climbs not stopping until I reel it back in. 

Can anyone provide suggestions on what values to tweak based on my telemetry log from last test flight and current params below.

Telemetry log attached - (starting from about the 35% mark in the log. I had to carry it to another location)

Thanks in advance

Jason

Attachments:
Permalink Reply by Fred on April 8, 2012 at 12:23pm

Hi folks,identical problem here with my octo.Already set all Alt. hold values to zero,no change.

Still starts climbing,the opposite of what i had in 2.5.

Fred

Permalink Reply by Silvio on April 9, 2012 at 5:19am

Hello :)

With your Loiter settings i have the best settings ever! my copter hold the position with a radius of 2-3meters with light winds, but very stable, no overshots or something!

i have Mikrokopter Fram MK50, with 760kV Motors, 10 x 4,5 Props, and 4S Lipo!

I just want say the difference between 4S and 3S Lipo are big! I fly long time with 3S lipo and now I switch to 4S Lipo, and i need 1-2 hours to tune my PID new!

sorry for my bad english :)

Attachments:
Permalink Reply by John Campen on April 9, 2012 at 6:41am

I flew my there rigs today but my laptop wouldn't boot up so i couldn't log the flight. Even though had a few issues, mostly had some good flight.

Is there anyway to get the logs from the board if it wasn't save to the computer? I also noticed that on decent the hex wobbles quite a bit. I recall there was some discussion on this issue. What was the final conclusion to the cause of this? I have a few other issues as well but I will check my hardware etc before I conclude if its hardware or software related.

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