Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
Dave, read the PM... :-)
Ehm, your tlog is only 1 Kb... LOL! :P
It is an honour and a pleasure to be invited the exclusive 'crash test dummy' drones group!
TBH this is the first time in two weeks i've flown, doing 14 hour days at work ATM, was a pleasure to see all is progressing as usual. What do you think of my compass logs Marco?
Anyway work's looking good, nearly done, I will hopefully have most of May free for APM workouts :)
BTW I have 3 flamewheel frames, all set up with different motors/escs/ mounts etc and only await my APM2's..... sniff....
Dave!!! Check the tlog in your post, is only 1 Kb! :-)
Leave me your email in private...
Oops, sorry no tlog for this one, that was an error, just the log, now attached.
So yes, the moving around of the yaw is probably made worse by some very noisy mag readings. It's possible that it's offsets, they are cleared when you load the code for the new version and they take a little while to get rebuilt. Still, I think we need to look into this a bit more and see a few more people logs. For diagnosing compass problems, the tLogs are actually better because they give more detailed information (dataflash logs are better for control logic issues..of course eventually we should bring the two together).
Thanks Randy, yes, those green spikes do not look good. I will have a fiddle with moving my compass and also Angels wire twisting excercise. It's a tricky one for me this as I rebuilt my frame with all the esc's below the centre plate at the same time i started noticing the yaw movements. So not sure if its that or the code. I'll try to get a bit of bench testing in later, to see if my heading is effected by throttle.
I'm still getting to grips with the logs, any tips much appreciated.
In the meantime i had another quick fly, stab, alt hold, loiter (with some manual input as its windy and i'm very tight on space) and this time i got the tlog.
Dave, check your mail (gmail)...
today I uploaded 2.6b code to my APM1.4. Since I do always slight mods of code beause there is still not implemented CH7/4 out reversioning (if someone interested more can be reade here) since I fly traditional tricopter I found small changes in code - new classes introduced (AP_motors and subclasses) This seems to be very nice improvement and this is only part of others. Congratulations to all developers.
I found also some new feature - COPTER_LEDS. Personaly I use different code for LEDs based on U4eake's inventions. I would put question here on this forum if somebode can explain me how does this work owerall - there is no note on WIKI on it yet.
Anyway I have to agree with U4eake - architecture of code sure improved but the flying performance doesn't suffice me more than 2.0.49. I must object to auto mode - it really doesn't work for me. Lat and Lon of WPs are achieved somehow but altitude definitely not. Had mission with 3 WPs, one with 30m alt, second with 150m alt and last back to 30m above home.
Perhaps there is some problem when copter have no sonar and relays only on baro. Who knows...
Thanks palo for your report...
I thought the tri copter servo reverse problem could be done by changing the RC7_REV to -1 in the parameters. Could you give this a try and if this doesn't fix it, I'd like to modify the code to get it to work. We will probably also need to add a little button somewhere in the mission planner set-up screen.
The next rearchitecture bit will be the Attitude.pde which will probably come in 2.7. Planning to move Attitude.pde into an library (probably called "AP_AxisController") and it's at that point that I'd like to have another look at the Auto and RTL performance. For this release there will be more logging of loiter so hopefully that will help people tune it better.
thanks for testing 2.6!
P.S. Robert Lefebvre is your man for the led descriptions..
Hi Randy, I noticed in 2.6 that the TOP_BOTTOM_RATIO for coax copters is gone. Can it be added back in because I cannot fly my two y6 frames without it. Or can I hard code it in somewhere. I use .92 as my ratio on both copters and with 2.53 and GIT up until the change to the motors was made they are flying very well. So stable!
Ah right. Are you sure it makes a difference? Max from the dev team tested and reported that it didn't seem to make a difference. It can be added back but just want to make sure that it's really useful.