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

▶ Reply to This

Replies to This Discussion


3D RoboticsPermalink Reply by Chris Anderson on April 9, 2012 at 6:44am

John: Yes. It's in the manual. 

Permalink Reply by Jo Peer on April 9, 2012 at 9:20am

Guys, how is the bugfixing going?

Has the problem with the yaw been fixed yet?


DeveloperPermalink Reply by Adam Rivera on April 9, 2012 at 9:23am

A release is coming soon that will include a better mag calibration routine. Stay tuned.

Permalink Reply by Rui Manuel Cravo Marques on April 9, 2012 at 9:25am

Well... another flight test, another crash.

First my quad started to flip over to the left (twice on take off). I levelled it, it took off ok, then I switched to loiter --- Immediate flip over, crash, 2 props to garbage. I'm flying download area version of AC 2.5.3, It has been giving me some erratic behaviours and glitches in middle flight wich are not getting me very convinced on it's rubustness. I know a great deal of job was put in it but, I'm sorry, it's not working for me. I attach the log files to see if anyone can reach any conclusions but without many hope. Xaircraft pro 450 frame, X flight mode, emax gt 2218 930kv motors, 5000mah 3s 30c battery, all weight approx 1550gr.

Attachments:

3D RoboticsPermalink Reply by Chris Anderson on April 9, 2012 at 9:31am

Rui: I think you've got some kind of hardware problem, or something screwy is going on when you compile (why aren't you using the Mission Planner to load the code?). It's working without issue for me on a range of copters and there are now thousands of other users. The kind of problems you're describing sound like wiring or power issues, not code.  

Permalink Reply by Rui Manuel Cravo Marques on April 9, 2012 at 9:42am

Hi Chris,

I usually use the Arduino environment since I have some personalization (it doesn't mess with the cycles, it just puts AN6 and 7 to output and in sync with the LEDs A and C so I can have 2 external LEDs on my dome, and it's being called from the 50hz loop). I have rechecked the wire and all "seems" to be fine. Do you think an ESC timming issue can cause this ? I will try with the Planner version and without those "self made tweaks" and also drop the RC_SPEED to 400 to see I can get rid of these problems. No doubt I suspect hardware since you guys are having hassle free flights, but what I found akward was flipping when I switched to loiter. I'll erase and reset everything and upload again to see how it goes.

Permalink Reply by afernan on April 10, 2012 at 1:32am

I had two crashes yesterday with last GIT 2.5.3 (see details in dev list)

One with my custom (and largely flown) quad (APM2), and the exactly the same problem with my HEXA (APM1) also largely flown. So, I´m sure there are not hardware problems.

The isue appears after some minutes of correct flight. It drops without any Tx control. I couldn´t see anything in logs (except the evedence that dropped while in Loiter). After the crash (and some repair) I flew again, but the issue didn´t repeat....so, I guess it will be difficult to fix. Let see if other "brave" testers report also the same.

Angel


DeveloperPermalink Reply by Randy on April 10, 2012 at 9:54pm

Angel,

     I replied to your issue on the dev list but in any case, it looks to me like you're having a radio problem.  A few seconds before your sudden descent, your throttle falls very low (to zero at one point).  Because you're in Loiter, this makes the APM code think that you want to descend and that's what it does!  If you have a chance to check my email reply that'd be great.  At this point, I believe it's not a software problem but rather an issue with your radio.


DeveloperPermalink Reply by Marco Robustini on April 9, 2012 at 9:45am

Hi Rui, sorry for the crash! Afernan has had a similar problem I think ... APM2?
If you quad now is ok try again (at very low altitude) without reflashing the firmware, if you have the same problem trying to reflashing your APM and test it again.
I've hundreds of flights with 2.5.3 (APM1) without this problem, and i use buzzer on AN6 and led to AN10<->AN15.

Permalink Reply by Rui Manuel Cravo Marques on April 9, 2012 at 9:58am

Hi Marco, no, I'm using APM1. I will replace the prop and give it another go. I would suspect an ESC or motor if the flip was diagonal, but since it was almost perfect to the side, the fail should have been from 2 motors/ESC but they are both working fine... weird :|


DeveloperPermalink Reply by Marco Robustini on April 9, 2012 at 10:09am

You know it right away if it is a hardware problem, just try to take off in Acro, if all goes well i suspect vibrations or software problems.

Permalink Reply by Allen Bishop on April 10, 2012 at 8:50am

Marco:

Can you post a video showing three waypoints with stops at 2, 4 and 5 minutes with a RTL from waypoint #3 back to the takeoff point and auto land?  I want to fly my quad again but am not confident that the software is anywhere near stable enough.  A demonstrtion of its functionality would be very welcome since we have been at 2.5 and 2.5.3 for some time without any significant demonstrations other than several minutes of LOITER and ALT HOLD and of course a lot of MANUAL flying.  I am flying a DIYDrones quad with all standard components plus sonar.  My sonar signals are perfect with no noise and all mountings using vibration isolation.  I am sure many users would appreciate a full demonstration of the published functionality.

Regards

Alllen

RSS

Social Networking

Top Content 

1 APM Project vs DJI NAZA and WOOKONG

APM Project vs DJI NAZA and WOOKONG
2 APM 2.5 with NEO-6M ublox gps (not 3DR LEA-6)

APM 2.5 with NEO-6M ublox gps (not 3DR LEA-6)
3 APM Copter 2.9.1.b has been released

APM Copter 2.9.1.b has been released
4 Flying 3D Spline Curves between Waypoints with ArduCopter 3.0

Flying 3D Spline Curves between Waypoints with ArduCopter 3.0
5 ArduCopter-3.0 ready for wider use

ArduCopter-3.0 ready for wider use
6 10k autonomous flight - telemetry guided flight, and other APM tests!

10k autonomous flight - telemetry guided flight, and other APM tests!
7 Drone shot down by police

Drone shot down by police
8 MAAT final version is being tested

MAAT final version is being tested
9 Getting ready for Arducopter 3.0

Getting ready for Arducopter 3.0
10 Help Tuning Arduplane 2.73 With A Large Slow Airframe

Help Tuning Arduplane 2.73 With A Large Slow Airframe

Contests

Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.

A list of all T3 contests is here. 

Groups

Advertisement

© 2013   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service