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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ModeratorPermalink Reply by Dean Wynton on -
Yes it is based on that design... However I did find before that loiter did not work at with the P at 1.5? until I raised the value to 3.0?. But I have changed around lots of things and even re-designed the Tri slightly so that may have made a difference? I will try tommorow if the rain holds off? and get back with the results and any changes I make..
Thanks Hans I was beginning to think I was the only Tricopter flier here:)
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Permalink Reply by palo sestak on -
I have the same design (according to rcexplorer.se) and still didn't get it loiter useable. It still overshoots and the box in mild wind is at least 20m ;o(
Loiter P lowered to 2. Now the tricopter is still oscillating in huge box and hunts the position very aggressively - thereafter overshoots the position.
Here are my params.
Going to test lower Loiter P.
- Attachments:
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ModeratorPermalink Reply by Dean Wynton on -
Great somebody else.. Well between us I am sure we can get it working much better?
( fingers crossed) I am sure it is probably one of the most difficult airframes to tune judging by the other people on the forum that have bought a ready made kit put it all together and loaded the firmware and everything works perfect or close enough?
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Permalink Reply by Hans C on -
Tri - Guys
To keep things clear I herewith sent the file with all the changes I made from the default settings.
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Permalink Reply by Hans C on
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Forgot to attache file
- Attachments:
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2_5_4.param, 3 KB
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Permalink Reply by Dave C on -
Right, that's it- you've made my mind up - my APM2 is gonna have its first flight in a tri frame - i shall get busy this afternoon and report in.
:D
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Permalink Reply by palo sestak on
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2.6b
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ModeratorPermalink Reply by Dean Wynton on -
2.54
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ModeratorPermalink Reply by Dean Wynton on -
Have you had chance to try out Loiter with the new settings Palo?
And did you manage to get a flight in Dave?
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Permalink Reply by palo sestak on
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Not yet, working now on Skywalker and Arduplane :o).
Next week maybe, if the weather will be OK.
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ModeratorPermalink Reply by Dean Wynton on -
Just been out again but cant seem to improve on those settings? today is a bit windy though, perhaps I will try on a calmer day?
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