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: 115043

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Replies to This Discussion

Permalink Reply by Olivier on April 24, 2012 at 12:24am

Hi John,

 

   Have you check your battery just after the crash?
I had a similar experience (I was lucky the quad was 1 meter from the ground). When battery start to fall down, controller start to reduce power (if correctly programmed). Some controller reduce more than the other, and quad start to flip.  To avoid this I trying to keep may battery level close to 20% when I land.

 Another point, on your video I seen your receiver  wire (right?). If you are not far away from you this is not a problem, but it's recommended to install the 2 wire with a 90° angle.

 

Regards.

 

olivier

Permalink Reply by John Campen on April 24, 2012 at 2:06am

 re a post a few days ago if someone could please help me on: 

http://www.diydrones.com/forum/topics/how-to-reset-xtreambee?xg_sou...

"I had a crash  and the xbee came off the board and then I mistakenly pluged it back into the board in revers so the power pins were feeding the two signal wires. Now it wont communicate with the the gcs xbee. I swapped over the Xbee 900 to another xtreambee adapter and its working fine. So its now obvious there is a problem with the xtreambee. I'm still getting leds lighting up( the red the blue and the far left orange are solid) so it cant be totally destroyed. How can I try to reset this . I used the FTDI cable and X-CTU to try rest it,and although the FTDI comes up with a port number , the X-CTU wont detect the board and comes up with error, cant open com port. How can i try to rest the Xtreambee board and load firmware to the adapter board and see if this will fix it?

Permalink Reply by Peter on April 24, 2012 at 9:35pm

Hi Guys can someone tell me if the latest code fits on the 1258 ?

Or do I finally have to upgrade to the 2560.

 

Regards Pete

Permalink Reply by Jason Wise on April 24, 2012 at 11:39pm

You wont have any issues loading it via MP, it will sort it for you....I fly the 1280, no issues at all

Permalink Reply by Peter on April 25, 2012 at 12:43am

Thanks Jason

Permalink Reply by John Stuart on April 25, 2012 at 2:46am

Tuning also works on the 1280, although you will have heard that the CLI is not available.

Glad to hear other people are also hanging in there with their 1280s on the latest firmware :)

Permalink Reply by Peter on April 25, 2012 at 6:05am

Well John I just thought no point updating untill I have too, I have a brand new board sitting in the drawer also, most likely will become obsolete before I use it  lol.


DeveloperPermalink Reply by Marco Robustini on April 25, 2012 at 12:33pm

ArduCopter V2.6ß - Compass test

Hi all!
The team is working hard to make the experience ArduCopter increasingly stable and pleasant.
Today I tested the goodness of dcm, automatic compass calibration and auto declination, putting a strain on the stability of my little "kamikaze quad".
I apologize for "out of focus" and shaky, a friend lent me a little performance cam... :-)
Special thanks to Antonio Mattioli (the duty filmer).

Bests, Marco


DeveloperPermalink Reply by Adam Rivera on April 25, 2012 at 12:46pm

The MPU6000 solution is referred to as DMP (Digital Motion Processing). The DCM is our own attitude solution.


3D RoboticsPermalink Reply by Chris Anderson on April 28, 2012 at 7:42am

Yes, still just waiting for Invensense to give the green light. Fingers crossed.


DeveloperPermalink Reply by Adam Rivera on April 25, 2012 at 12:48pm

Marco, did you have to tune AHRS_YAW_P at all?


DeveloperPermalink Reply by Marco Robustini on April 25, 2012 at 1:54pm

Hi Adam, "0.2" is my value.

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