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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DeveloperPermalink Reply by Randy on -
John,
Is it possible you bought the long range 1260 instead of the default 1200? Nothing wrong with getting the 1260 which has a range of 10m but if you use this one you should change the sonar type to XL-EZL0 in the AP Mission Planner's APM Setup screen. Pic below!
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Permalink Reply by Chris Kreuzer on -
First Flight... first crash ;-(
I think the RATE ROLL P is too high... so one motormount demolished ;-(
See the Video
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DeveloperPermalink Reply by Marco Robustini on -
Yes, you have a fast oscillations, decrease RATE P and increase a little RATE I.
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Permalink Reply by Chris Kreuzer on
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Just Roll? From 0.14 to 0.1?
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DeveloperPermalink Reply by Marco Robustini on -
Chris, use the "in flight CH6 Tuning function for this", is better than landing, connect the APM, change setting etc. etc.
About the min and max range you can use the "half" rule, for example if RATE P is now "0.140" (where 70 is the half) the right min tune value is "0.070" and the max "0.210".
With STAB P, the same rule, and so on.
Use this trick for all the parameters.
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Permalink Reply by Chris Kreuzer on
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CH6 Tuning... hmmm.... i have no analog CH6 ;-( just a 2POS switch
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Permalink Reply by Rui Manuel Cravo Marques on -
do you have any analog channel variable channel with a potentiometer ? ch 7 ? ch 8 ? if so, connect it from the receiver (ch7 or 8) to apm input 6
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Permalink Reply by Chris Kreuzer on
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No... no variable channel.
But i have orderd the 3DR RadioTelemetry Kit 433Mhz.
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Permalink Reply by John Stuart on -
Even if you don't have a potentiometer on your radio, even a 3-position switch can work, provided you set the travel conservatively. Assign the 3 position switch to the tuning channel (6), set the upper and lower limits conservatively and this will still be better than manually writing the parameter from APM Planner each time.
BTW I previously thought tuning did not work on APM 1280s, but it does.
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Permalink Reply by Lars Carlen on
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Marco, where can I find information on "in flight CH6 Tuning function for this" ?
I have a Graupner mx-20 with lots of chnls.
Lars
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Permalink Reply by Norman Sanchez on -
hi all:
I found this https://code.google.com/r/foobarbecue-ardupilot-ultrapwm/source/det...
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Permalink Reply by Aaron Curtis on -
Yep, I tried it and it works very well. I uploaded three (very poor, sorry) videos of it flying from my helmet camera. They are the top three videos here: www.youtube.com/user/thdrkisafrdofme
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