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 R_Lefebvre on -
John, mechanically cutting power would be difficult. Much much easier to use a MOSFET to disconnect the battery. You could use a MOSFET driven from a receiver controlled switch, plugged into a spare channel on the APM.
Or use an Arduino Nano to watch a 1second heartbeat signal from the APM. If the signal stops pulsing, it could automatically kill power.
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Permalink Reply by John Campen on -
that sounds the way to go. So any advice how to make this? Id still like to be able to use channel 8 though. It always bugs me we have a spare channel we cant use.
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DeveloperPermalink Reply by R_Lefebvre on -
Ok, so for Ch8 control, use something like this:
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=...
To drive a FET, rated at however many amps you need:
http://www.digikey.ca/product-search/en/discrete-semiconductor-prod...
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Permalink Reply by Jean-Marie Binot on
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Hello Robert! I'm french and i've seen that you've make an upgrade in APM for the H4 swachplate (four servos) to mount APM on a Vario Benzin Trainer.
How to include it in the standard TradHeli V2.5.4 software for APM1, please?
Have a nice day!
Jean-Marie
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Permalink Reply by John Campen on
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wow ready made , that's the way to go!. Now to just get the channel 8 liberated!
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Permalink Reply by John Campen on
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wow, the ready made one looks the way to go. But is 10amp going to be ok? Now we just need to get the channel 8 liberated!
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Permalink Reply by James on -
i have thought about this quite a bit, and while im all for working on a full failsafe i think we could apply a pretty good safety measure with little complication.
i think that in any flight mode zero throttle should mean zero throttle. its the simplest, quickest stick input we can give in an emergency.
i know its a long way from a separate system running outside the main code but it could minimize the damage in a lot of situations.
james
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Permalink Reply by John Campen on
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or can it be done in a way that absolute zero throttle in flight modes can be activated using a switch?
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Permalink Reply by James on
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i dont see the need, im assuimg that radio is connected and the main loop is running. in this situation we already have a channel dedicated to throttle and its just a change in the motor control logic.
i feel this could also dramatically improve autoland, cutting the throttle the moment the quad touches the ground would eliminate all that bouncing and skating around.
james
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Permalink Reply by John Campen on
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this is what I want on my copters http://www.youtube.com/watch?v=7dDxGKxNsfw
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Permalink Reply by Glenn M on
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Does the new copter_leds code in 2.5.4 work using the same pins as u4eake's showleds code? (AN8-15)? Should it be connected the same way?
Mine didn't seem to work with a fresh 2.5.4 firmware from MP, but it does work if I disable copter_leds and go back to using show_leds with firmware uploaded via arduino.
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