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!
First Flight... first crash ;-(
I think the RATE ROLL P is too high... so one motormount demolished ;-(
See the Video
Yes, you have a fast oscillations, decrease RATE P and increase a little RATE I.
Just Roll? From 0.14 to 0.1?
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.
CH6 Tuning... hmmm.... i have no analog CH6 ;-( just a 2POS switch
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
No... no variable channel.
But i have orderd the 3DR RadioTelemetry Kit 433Mhz.
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.
Marco, where can I find information on "in flight CH6 Tuning function for this" ?
I have a Graupner mx-20 with lots of chnls.
I found this https://code.google.com/r/foobarbecue-ardupilot-ultrapwm/source/det...
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