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: 115151

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Replies to This Discussion

Permalink Reply by Balloon on April 23, 2012 at 7:07am

Wow nice fly

Permalink Reply by Jason Tinacci on April 23, 2012 at 9:45am

Hi Dave, 

Great vid! Couple of questions... would you be willing to share your final param file? I have the same stock quad and having a tough time tuning it. Lots of drift in all modes...
Also, what camera are you planning on sticking on your quad? I'm waiting for a new Canon S95 that I'll use with CHDK. 

Thanks,

Jason 

Permalink Reply by Dave C on April 23, 2012 at 10:13am

Hi Jason, yes of course, i actually did share it - its the one that comes stock with 2.5.4. Only thing I've changed is the loiter_p that i reduced to 1.2.

I should be clear that i spend time making sure everything is straight, that all my props are balanced, and my motors, and do a lot of hand testing (with goggles and gloves etc) before I mess with any of  the settings. For info i have an APM1 mounted just on sticky foam, (the cellotape stuff)

My camera arrived today, I got a bargain on a camileo s30, unfortunately its a dud, so cant tell you what its like..., i should have a replacement next week.

And thanks to you too Balloon :)

Permalink Reply by Chris on April 23, 2012 at 10:28am

Hey Dave

I enjoyed watching ure Video. Your Copter flies very well. Seems, that the "new" Code is very good. Have to rebuild my "crashed 2.4 quad".

Permalink Reply by Dave C on April 28, 2012 at 9:35am

Sorry my mistake, I had messed with the params a bit, for the above video, as i mentioned - this is what i was flying....

The only differences from defaults are:

stab_I and stab_D reduced to zero.

rate_I to 0.08, rate_d to 0.008.

loiter_P was actually left at the default of 2.0 for the video, not reduced to 1.2 as previously stated, I did that later in the afternoon


Attachments:
Permalink Reply by Jason Wise on April 22, 2012 at 6:42pm

Help!, My setup is stable and flys well in stabilize mode and Alt hold mode,  I dont have any other flying issues except when I switch to loiter, my Hexa yaws to the right, I switch out of loiter to gain control, but Im sure something is wrong?, My mag declination etc is all tuned in

Any suggestions as to yawing while switching to loiter?


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 6:44pm

Did you enable the compass and do the Live Calibration?

Permalink Reply by Jason Wise on April 22, 2012 at 7:53pm

Ill do it again(Lipos are charging....), I should only need to do it once yes? and not all the time?


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 7:55pm

Yes, you should just have to do it once. 

Permalink Reply by John Campen on April 22, 2012 at 8:05pm

where can i find instruction for live calibration?


3D RoboticsPermalink Reply by Chris Anderson on April 22, 2012 at 8:12pm

It's in the MP. When you click on it, it just tells you to move the copter/board around in the air for 30 seconds. Try to rotate it as close to 360 degrees in all three axis as you can. It doesn't matter if you don't quite get there ;-)

Permalink Reply by Emin Bu on April 22, 2012 at 8:54pm

Hello... my hexa flat (3kg,910Kv motors,props 13/6,APM2) fly very well but when i do roll,pitch or yaw it adds throttle and hexa is rising,can somebody tell me what PIDs i need to tune so throttle wont add itself so much,thanks.

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