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 Eric Tweet on -
I believe it is mentioned:
http://code.google.com/p/arducopter/wiki/AC2_loiter_PID
Indicates that the units are meters per second. (i.e. 0.4 is 40 cm per second).
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Permalink Reply by Gerrit Jan Baarda on
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Is that true? I was thinking this must be outdated. Here in the Netherlands Bft 4 with 10 m/s gust is very common. If the copter is trying to compensate with only 35 cm/s it would have no hope of loitering for most days.
Also in the movie by Marco there is supposed to be 15 m/s wind, that would be impossible wouldn't it?
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Permalink Reply by Tomas Soedergren on -
Ground speed, Gerrit. Not airspeed.
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Permalink Reply by Gerrit Jan Baarda on
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OK, that makes more sense.
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Permalink Reply by yovio on -
Hi Randy,
Thanks for the tips, its really helpfull, so I just tried tuning the Loiter_RATE_P and the result is better.
Now my quad is loitering within 4 meters box and now my LOITER_RATE_P is 2.680, if I increase more, I saw some overshoot.
Next I will try is tuning LOITER_RATE_I cause I saw that I use very small value which is 0.010 when I do the above test.
I attached some of my logs when I do LOITER_RATE_P tuning.
- Attachments:
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2012-04-15 18-56 7.log, 619 KB -
2012-04-15 18-55 6.log, 695 KB
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DeveloperPermalink Reply by Randy on -
Yovio,
Ok, good. I had a look at your logs and you do tend to still overshoot or sometimes not quite reach the target which makes me think you still need a little more P although I can also see the jagged edges appearing in the P (yellow line below) which I think could be a sign that your P can't get too much higher. Maybe a bit higher I and perhaps a touch of D as well..
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Permalink Reply by John Campen on -
I want to check the barometer feed. In the tuning "Graph This" box which one do I tick to see the live feed?
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Permalink Reply by Duran - SteadiDrone on -
Hey again guys.
quick one here, I've tried to read through most of this thread regarding the YAW issue people are having, on my big octos it's almost impossible to fly as yaw is all over the show with 2.5.3, but when going back to 2.3 or .49 its solid.. So obviously not a hardware thing, any help, has this been solved yet ?
Any help or advice would be great.
Thanks
Duran
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DeveloperPermalink Reply by Marco Robustini on -
Duran, read the PM...
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Permalink Reply by u4eake on -
If the pm solves duran's yaw issue, I'd like to read it too, cause I'm having the same problem. :-)
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DeveloperPermalink Reply by Marco Robustini on -
LOL!
Duran, open new discussion in the "Testers Group" about the yaw issue, thanks!
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