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!
Here's what I have in my apm_config.h:
#define MOTOR_LEDS 0 // 0 = off, 1 = on
#define SHOW_LEDS 0 // set to 1 to enable AN7-AN15 controlled led lightshow
#define RELAY_LEDS 0 // set to 1 to use the old relay led low battery warning
#define COPTER_LEDS ENABLED
I can't get RELAY_LEDS to work either now. It has been working fine with 2.5.3. SHOW_LEDS seems to be the only one I can get to do anything, but it doesn't behave well. I get one arm flashing, and this changes with increased throttle. I just want all LEDs to come on when armed, and flash when the battery is low.
I have just upgraded mission planner and arducopter to 2.5.4 but now when I try to set up flight modes I get a message "Failed to set Flight modes"
Everything else seems okay can anyone tell me where I am going wrong?
It was working on V2.5.3 and I am using APM2
Arthur: upgrade your Mission Planner to 1.1.75 (just accept the upgrade request when you start) and that should solve it.
900mhz telemetry kit for arducopter selling out for 100$ http://www.rcgroups.com/forums/showthread.php?t=1637577
Question to dev team:
is there a way how to find out from logs (something to add to loged params) that the main loop was frozen before the multicopter crashes?
At the moment, the best way is to check the altitude and throttle in the ATT and CTUN rows of the log. If you plot them with mission planner, in case of a total failure (while flying) you'll see they just end with your quad apparently in the air (i.e. throttle and altitude non-zero). Note that the barometer drifts over time so even on a normal landing it won't be exactly zero so it can be hard to be sure if you're flying at a very low altitude.
If we added this same failsafe as we have in arduPlane, I'm not sure if we'd be able to push something to the logs or send a message to the ground station...we'd have to try and see.
I've just recently found time to start playing around with a quad I built earlier this year using an APM1 and fairly standard motors and frame. I had tested it with a version of Arducopter available in January, it was OK but needed some tuning. Before I got around to doing that work took me out of the country until a few days ago. In picking up this project again I've loaded the the latest version (2.5.3) into the APM1 and went through the setup without any problems. When it came to a flight test (indoors to start) I noted that the copter would start to spin around on the ground before getting airborne. Playing around with the controls didn't really seem to make a lot of difference, likewise using CH6 to try tuning the YAW_RATE_P didn't appear to do much either, also tried a few different setting with STABALIZE_YAW_P. I did get it in the air a few times outdoors were, other than spinning, it seemed stable if I left the controls in their neutral positions. I've attached a log of a very short test I did indoors where I allowed the quad to spin a few times on the floor. In other tests motors 1 and 2 and motors 3 and 4 tracked each other in speed with one pair speeding up and the other pair slowing down creating the spin. In the attached log this wasn't the case, one pair tracked but the other pair showed a difference between the two motors but still one pair slowed while the other sped up. I would really appreciate anyone's comments as to what the cause of this might be. The quads motors are not tilted or otherwise mis-aligned, the ESCs were properly setup. I am sure there is a simple explanation and that I've missed something basic.
I'm not an expert, but have you confirmed your radio is in acro mode ? If you have it in heli mode it may have some mixes on (tail rotor to compensate torque). You should have it in acro/plane mode wihout mixes. Also, did you set up the compass with mag declination ?
Radio is OK, not in heli mode. Same configuration I used before with the same quad.
Did you enable the compass and calibrate it in the MP?
Compass seems OK, I did the calibration a couple of times to make sure and set the declination. The compass indicates the right direction when pointed in a known direction. When the quad is spinning you can see the compass track the spin correctly. Also tried disabling the compass, no change. Does the APM1 take yaw correction from the compass or the gyro?
I believe it's from the compass but not sure. Have you done a erase and reset before uploading the new version ? Might be some corrupted parameter, also, check your flight modes, the quad may be in simple mode, wich uses the orientation of when you arm the motors and then may spin free remember orientation. If you have your yaw by any reason sending a value not in middle (neutral yaw), it may be spinning, also, check you have a yaw rate p not too high (0.100 / 0.130). Also, the latest version is 2.5.4 wich had some yaw improvements, try that one instead, but make sure you erase and reset before uploading. This is all I can think of right now.