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:
- 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.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- 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).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- 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!
Replies to This Discussion
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Permalink Reply by AlexP on -
today I wanted to try guided mode, but as soon as I added a little power: the bird flipped instantly and agressively. Any idea why? Log is attached.
yesterday I tried it as well and the hexa tried to take off slowly. I stopped because I was running out of time, so it never completed the take-off. Today was an immediately flip.
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2012-05-02 13-21-57.rlog, 1.3 MB -
2012-05-02 13-21-57.tlog, 1.7 MB
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Permalink Reply by Chris on
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Can anybody look at this log?
http://diydrones.com/xn/detail/705844:Comment:847863
I dont know, why my Hexa is not good flying with APM1....i tried all posibble PID combinations....
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DeveloperPermalink Reply by Marco Robustini on -
Hi Chris, what's the problem with your hexa?
To see if it really is a problem you should pid groped a takeoff and fly at very low altitude using the Acro mode, if this one is stable there's have to work well on the pid.
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Permalink Reply by Chris on
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Marco, its the same problem i had for all the time i have the apm1.
Its - not - stable. I tried so many, PID, new ESCs, new Motors and so on.I did PID Tuning with CH6 hours...no..weeks...no...month...i tried to get all on Zero. Started with P till Oszillating, Reduced P, go on with I. Wobbels - or Sluggish. Not really a stable flight. Tried stab_d. dont work...
I wrote in this Thread a long time ago, we tested some, but it wont work. The APM seems to have an own "life". whatever i do, it flies not stable. With MultiWii, Hoverfly, Naza it flies sooo smooth, but i dont want this systems, i want the APM. I see ure work, the work of all Devs. I like the OpenSorce Code. But the APM dislikes me..:/
I have to uload a Video - but - in the log - is there maybe a hint, WHY my APM dont fly good?
I Fly only in stable, because ive never learnd to fly without it. ;) But i know, that i must do it, to find the failure....maybe its me...
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Permalink Reply by Cliff-E on -
Looked at your link above. Are you running 16Khz PWM mode on the blue series? 8Khz mode with the blueseries are a bit noisy on multicopters in general--I exclusively use those ESCs on nearly all my multicopters.You can only get to the setting via stick programming only.
Assuming you have programmed every ESC correctly (and you need to run the manual throttle range setting on those HK's) and assuming:
- your hexa is under 1000g (no battery) weight
- 8x4.5 props
- APM is mounted correctly/config-ed correctly.
- Running a 3S battery, 20-35C, 3000mah
With those assumptions above: looking at your setup on a motor calculator, I'm seeing your drive efficiency at hover on those KDA's at 56%, which is really bad in my opinion (you want around 75+%) and likely the cause of the "noisy hover". I bet normal flight is ok, as the the calc says efficiency is around 74%. Try this: switch back to the default PIDs, and lower rate_p 10% and add 300-400g to your frame. I predict it hover great with a twitch every few (which needs further fine tuning of rate_p)--I had similar issues with some Park450 motors, the efficiency was horrible (60%)--the motors overpowered the frame where even making the PIDs 0 didn't help. Once I added mass (which brought up the efficiency by match the motors to mass), it hovered great, and hardly twitched. With a non-stiff frame and matched motors (i.e. like hoverfly's fedex box experiment), I had to lower my rate_p values to 0.005 and rate_i to 0 to get it to hover with minimal twitch--though is was much hard to control outside of hovering.
Typically, the harsh twitching is due to over-dampen PID values--they are too high and it could be the motors, esc or frame stiffness....Sounds like the rest of your setup is fine.
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Permalink Reply by Chris on
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1. How i change the Blueseries to 16kHz?
2. This Copter flies very well with another FCs, as i said - so the Motors are okay.
3. Throttle Range is done with all ESCs seperatly.
4. This configuration flies NOT - what i mean is, u cant fly with it. its wobbling or twitching or sluggish. None of this "Flightmodes" its usable to fly with this Copter.
As i said, if i mount a Mwii with a BMA020 and a WiiMiotion Plus - it flies like a dream. So whats up APM?
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Permalink Reply by Cliff-E on
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Sounds like the throttle range is fine. If it constantly yaw's or pitch/rolls on take off then the range is not set right (which appears not the case).
Try this then:
--for 16Khz pwm mode, you need to program the ESC from the transmitter with the tones. No prog card has it: http://www.hobbyking.com/hobbyking/store/uploads/376627436X63807X39... (step #9) Even on the mwii, 16Khz mode will make it much smoother and quieter.
--run a 'reset' on your APM (goto terminal mode, type setup, type reset, cycle power).
--disable the compass
--start up everything, connect to mission planner and look at your alt (baro) values--if they are jumping +-2meters or more, there's your problem (it's been known the baro can cause twitching, shimmer issues, especially in alt hold).
At that point it should hover fine, maybe not smooth (like an MK for instance), and you may need to bring down the rate_p value to make it less stiff. At that point, if flight (pitch/roll) are not acceptable, you'll need to post a video so we can see if the twitching happens on input, release, positions, etc...
Also ,did you try adding ballast weight? Just a thought from the motor calculations.
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Permalink Reply by Mike Mac on
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I have a question about way point radius. What do most of you use and how does it effect the transition from one way point to the next?
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ModeratorPermalink Reply by Dean Wynton on -
I have only done it a couple of times to test that waypoints work on my setup? I had them set to 1 as it was easier to plot out a small mission in case something went wrong? I am probably wrong but I think it is the precision of the waypoint i.e when the craft is within that radius it will accept it as reached and move on.?
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ModeratorPermalink Reply by Dean Wynton on -
Anyone on here fly a Tricopter? I am having a few issues tuning it in properly, have got the loiter to about 20 meters, but obviously is room for improvment? here are the params I am using..
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Working.param, 3 KB
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Permalink Reply by Hans C on
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Dean,
I am not an expert, still learning.
Assuming your tricopter resembles the www.rcexplorer.se version which is what I fly at least.
To get rid of the overshooting and circling behavior in loiter mode I have lowered the
Loiter P to 1,2 (Loiter_lat_P & Loiter_lon_P values)
Loiterspeed to 0,12 (HLD_Lat_p & HLD_Lon_P Values)
When switching to loiter the first few seconds the Tri drift with the wind, after that it starts to get back to the correct position. This is in calm to mild windy conditions. I am sure there is still room for improvement. If you or anybody else give these settings a try can you share your experience so we
can benefit from eachother. If there are other Tricopter fliers with tips to improve our machines please respond.
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