Developer

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:

  1. 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.
  2. Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
  3. 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).
  4. Increased output rate to ESCs to 490hz.  This update rate is also user selectable using the new RC_SPEED parameter.
  5. hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
  6. improved baro filtering
  7. fix to dataflash logging of Mag heading
  8. 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!

 

Tags: ACM, APM1, APM2, Heli, Quad

Views: 115175

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Replies to This Discussion

Permalink Reply by Jason Wise on April 22, 2012 at 1:13am

Check the Wiki, its the best thing since sliced bread!, I have a CC, and just got a couple of Naze32 FC's and I miss the PID tuning via radio


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 12:56pm

Jason: you can tune ArduCopter PIDs via regular telemetry radio with the MP, and also tune certain parameters via CH7.

Permalink Reply by Jason Wise on April 22, 2012 at 6:39pm

Yes Chris, I was referring to the other FCs which you cant tune via radio :)

Permalink Reply by Chapelat Daniel on April 22, 2012 at 7:40am
Attachments:
Permalink Reply by Chris Kreuzer on April 22, 2012 at 1:06pm

I cant connect my APM2 via CLI... strange code only?!? Connection and config via Mission Planner

works...

I try to erase the APM for the Update but CLI doesnt work ;-( 


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 1:16pm

Are you hitting Enter three times in the Terminal screen to get the CLI menu? The "strange characters" are just the usual MAVlink binary. 

Permalink Reply by Chris Kreuzer on April 22, 2012 at 1:24pm

i hit Enter three times... no CLI menu


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 1:40pm

Chris: I just tested (ArduCopter 2.5.4, MP 1.1.73) and it works fine. Are using the latest version of the software?

Permalink Reply by Chris Kreuzer on April 22, 2012 at 1:52pm

it works...

Thanks

Permalink Reply by Dave C on April 22, 2012 at 2:57pm

Hi Folks.

At last, a day off! Spent a good few hours and many milliamps getting to know 2.6b (same flight control as 2.5.4)

The following vid is done on a 3dr frame, standard 850 ardu kit, APM 1.  Sonar enabled. 

I did a lot of tuning today, I'm getting great results, next day off work I have I'll have cracked it I think. But for the video I stuck to stock params, (actually i had set stab_D and stab_I to zero. and was using rate_D of 0.08 and rate_i 0.8. Similar effects, i just prefer using the rates for my flying style/objectives) But the main difference is reducing loiter_P to 1.2.

Permalink Reply by Glenn M on April 23, 2012 at 12:31am

Hey Dave, have you got a pic of how/where you have your gopro mounted?

Permalink Reply by Dave C on April 23, 2012 at 3:11am

It's very technical... 

I've taped an aluminium square tube between the front 2 arms of the  3dr frame, then I hang the gogro off this with velcro, then wrap an elastic band around it just to make sure. 

My sonar mount is exactly the same, just between the rear arms.

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