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!
Hi guys just put together a Xaircraft hexa with KDA 20/22L motors and apm1.
Could someone share some pid settings to get me started please.
Oh and I am using the latest planer code.
I flew my quad with new setup. very sharp. But one of my ESC not very happy with 490hZ. How can reset to 400hZ?
I try to change the value to RC_SPEED it is not accepted. Can you help?
if not possible in the planner
I try to deal with arduino in
// default RC speed in Hz if INSTANT_PWM is not used
# define RC_FAST_SPEED 490
copile and load
and if you still can not
arduino change to library
diff looks at changes
indeed to do tests before flying
Just looking at one question which I generally see is skipped.
"When is DMP coming. What is the performance difference. Will it make arducopter quad fly as good as a DJI or Mk"
DMP is coming with Invensense allows it; it's out of our control. But in our testing it doesn't significantly outperform the DCM, it just frees up more processing power to do other things. The only performance issue we're aware of (and are working hard to improve) at the moment is Loiter, which is not related to DCM/DMP. What are you looking for better performance on?
What is DCM / DPM?
DCM = Direction Cosine Matrix, which is the software sensor fusion method used by ArduCopter/ArduPlane. DMP = Digital Motion Processor, which is similar method used to do the same thing that's built into the APM 2's MPU-6000 chips. However to distribute it in open source code requires permission from the manufacturer, which they have not yet granted.
We use the DMP internally with the dev teams because it frees up processing power on the main chip to do cool other stuff, but we have not yet shipped public code that does that for legal reasons.
today I tested 2.6b again on my tricopter.
After some fligt in AUTO mode tricopter went creazy to roll and falling down of course.Then it fall down to ground.
When I looked into log there is it:
I can't now eliminate HW (one of ESC or motor) failure, because have no radio at home, will do tommorw.