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 -
Weathers looking good down here, might creep out and try your params Dave?
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Permalink Reply by Dave C on -
Go for it, I've just done 6 batteries in the garden with those params, tried a bit more tuning but have ended up back where i started. It's a joy to fly, inch perfect.
I'm vibe reducing now, (strenghtening my shaky frame) then I'm going to see if i can dial more rate_d in, that in turn should hopefully allow for more stab_P.
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ModeratorPermalink Reply by Dean Wynton on -
That is my guess also, but then what is hit rad? hit radius, surely that is the same thing?
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Permalink Reply by Greg on -
Sorry to ask an obvious question, but with 2.5.x being the first ArduCopter code release optimized for the APM 2, is the code also fully compatible with APM 1 under the current release? The reason I ask is I have been on an older code release for a while and want to upgrade to the most stable version. Hopefully, I will have my APM2 soon but in the mean time any suggestions would be greatly appreciated. Or put another way was there a GA release level reached for the APM 1 electronics prior to development focusing on APM2 moving forward?
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Permalink Reply by afernan on -
@Greg. Yes it's compatible with both APM 1&2. When the code is loaded thru the MP its detected automatically.
@Dean: the WP radius are used to control if we hit a WP during a Mission
. Tipically use 3-5 m for a copter. If you decrase the value the copter will try several times to hit and until that it will not pass to the following. If too high, then you loose precition.
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ModeratorPermalink Reply by Dean Wynton on -
Thanks I have mine set to 1, will change it now to 4.
I assume on a plane it`s higher?
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Permalink Reply by Emin Bu on
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Hello..I need help to understand what is wrong with my hexa...RCTimer3536 910Kv motors,13/6 props,sonar,APM2,3s6000MAh,3.1kg…it was flying very good and stabile last few days,alt hold,loiter…than yesterday I we received 3DRadio,433MHz two air modules one with fdti…it took me some time to manage to connect(ground air module refuse to connect if touching anything)everything seems to work well…and today on the field…hm…usually stable hexa was unrecognizable flaying around almost by itself..i recalibrated compass,gps was locked but still no help….wind was around, lets say 10kmh..at the end I forgot my battery and had a bit harder landing,two carbon arms broken….but all the time I had feeling something is wrong…can somebody take a look at my logs and tell me?i cant tell is it bcs of 3Dradio(connected to APM2 with very,very short telemetry cable who came with it sorry for my bad eng. i cant explain better..thanks
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2012-05-05 16-52-22.tlog, 1.2 MB -
2012-05-05 16-52-22.rlog, 989 KB
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Permalink Reply by John Campen on -
Em, if the 3D radio is the new item added and now its not flying the same as it did before then check to make sure all the wires from it are shielded or have a choke fitted to cut out RF noise. These transmitters should be positioned well away as far as possible from the APM board because radio transition will interfere with the baro, mag, sonar and gps and probably other sensitive sensors on the board.
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i really do not understand why DIYdrones use such a short cable for telemetry (5cm) to connect air module to APM2.....??!!pfff!!!...now i have minimum two weeks of no fly bcs in my country(Croatia) is impossible to buy carbon fibre tubes....
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ESC is Turnigy Plush 40A....also i am not sure it is the empty battery issue bcs when my alarm make sound(at 10V) i usually have 60 sec or more flight bcs throttle cut is adjusted to slow cut(battery is on 9,93V now)....hexa drop down like stone from (lucky,only 3m hight)on first sound of alarm...alarm is some 12cm from sonar,is it posssible,sound from alarm affects sonar somehow?never happend before but......
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Can we have some super capacitor on GPS module so it will get fix faster...my friend have the same one i think http://www.flytron.com/sensors/180-i2c-gps-for-multiwii-and-others.... but his one locks in 5 sec.....My one on APM2 needs 2-3 minutes.....if answer is yes how do i do that and with which capacitor?
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Permalink Reply by Gustav Kuhn on -
@Emin Bu,
I don't have the link at hand, but if you search the actual hardware, there are some people that have added a small backup battery to the gps module, it is part of the original design.
For me, the start up time isn't an issue at the moment.
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