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 Norman Sanchez on -
hellothere if this link is used. I use it
http://code.google.com/p/ardupirates/wiki/MTK_GPS_backup_battery
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Permalink Reply by Alexander on -
Yesterday upgraded my APM1 to 2.5.4 software and made some flights. At first i made some little PID tuning, so my quad flys almost perfect.
When i began to test and tune alt hold/loiter modes (low altitude at first), motor on one side suddenly stopped just after switching from loiter to alt hold. My quad was real lucky - made one 360 deg. flip and fall on landing gear without damage.
After this accident, i checked all cables and connections (really i have only one connection - from ESC to APM, all other are soldered), and made some more flights. But next time i meet same problem (switching loiter -> alt hold = stop motor = spins = crash) at higher altitude (10m). This time crash destroyed 4 props, 2 motors, battery (it made a lot of smoke around).
What can it be? Now i'm afraid to meet this problem again and cant understand reason of this... Please, help me. Thanks!
p.s. In flight log, crash happens at 53% (time 23:02)
- Attachments:
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2012-05-05 22-58-19.tlog, 411 KB
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Permalink Reply by Emin Bu on
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no proper answer,for me or you i guess Developers are all working on something new.....
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Permalink Reply by Oliver on -
Hi Alexander,
that same thing happens with my Hexa today. At least I guess because I was flying FPV - and sadly no logs were being generated. Suddenly my hexa flipped 180 when I changes the mode and it went down to the ground - props first.
Kind regards,
Oliver
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Permalink Reply by Jason Wise on
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I also had the same issue with my Hexa on 2.5.4 and switching between Alt Hold and Loiter, mine was between 90 and 180 degrees, it took me by surprise....ended up hitting a tree then the ground...1 arm broken
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DeveloperPermalink Reply by Marco Robustini on -
Hi all.
Developer team now is working to solve some problems, but not stability, because we never had any crash for strange reasons, so double check your wiring and setup.
We are focusing on improving substantially all the automatic features such "Loiter / RTL / Auto", and solve the problem that afflicts APM2 when connecting the main battery, that is you often sometime have to reset the board, this has already been resolved.
The APM2 LEDs management will be improved, and I hope we can now integrate the management of the buzzer.
Be patient, it is our intention to release the 2.6 version only when we are certain that there will be substantially tangible improvements.
Bests,
Marco
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Permalink Reply by Allen Bishop on -
Marco:
Can you fly a three waypoint flight and return to land yet? Can you reliably fly a quad or hex and switch between ALTHOLD and LOITER and not loose position or control. Flight to flight to flight?
I would be interested since I have chosen to not fly DIY until I "SEE" some reasonable reliability and demonstrated functionality. Again I have not seen one video posting that demonstrates accurate waypoints or repetitive flights other than postings that only show how you can "fly" the copters in manual modes. Forget about unlimited waypoints - show me three and I would be happy. It appears that ever since 2.5 came out, everything went to crap except of course the sales of props, motors, escs and arms. Sorry to be critical but this is nuts!
Allen
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Permalink Reply by Gustav Kuhn on -
Hi Allen,
I'm not Marco, or in his league, but the latest code is a pleasure to fly in stabilize mode, and I can only attest to ALTHOLD, and that works very well on my stock quad.
A no-brainer switching back and forth, in my small backyard.
I hope to test the rest this weekend.
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Permalink Reply by AlexP on
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Hi Allen,
I'm not Marco either, but I have succesfully switched back and forth numerous times between STAB, ALT_HOLD, LOITER and RTL as well as 'Fly Here' in mission planner. I'm flying a Hexa with APM 1. No issues, other than hardware (jDrones motor where the 'c'-clip came of the shaft and a propellor loosing a blade in flight). I have flown in windy conditions and my only problem is overshooting RTL and 'Fly Here' points which I find difficult to tune.
Now converting jDrones Hexa in to home built Octo (cheaper and easier to get parts from local hardware store).
However......I have noticed the following:
- use the following order to turn things on:
1) place Hexa in correct direction of flight (I'm using simple mode most of the time)
2) Turn Radio On
3) Connect Main battery
4) Connect Main battery voltage connector (when checking voltage via Xbee)
5) Connect FPV video battery
- GROUND CHECK HOVER by holding HEXA down on center dome (BE CAREFUL)
this has failed twice on me. Once because Hexa pointed in wrong direction when connecting main battery (so I started nose in) and once because of an unknown glitch. In both cases I simply started the above procedure again.
Alexander.
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Permalink Reply by Allen Bishop on
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This is good news.
I am flying a quad with DIY and a Hexa with DJI with waypoints.
On your hexa are you using default PIDs?
If not, can you recommend any values for a Quad that I might consider. I am not an agressive flyer and generally fly to a location and go to either ALTHOLD or LOITER to take live video. I also use the battery monitor and have a sonar sensor which works great.
Regards,
Allen
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Permalink Reply by AlexP on
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Hi Allen,
I'm mostly using default PID's, some little tuning. I'm travelling for work now and don't have the numbers here. I'm doing the same as you do: go to location, alt-hold or loiter for video. I have sonar as well as optical flow sensor. Sonar works great. Optical flow does not seem to do anything.
Took her up to 450ft yesterday, enabled loiter, did some video and then a very rapid descent without any problems. Loiter and RTL do not work very well, but now that Marco replied it might be fixed in 2.6, my hopes are up!
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DeveloperPermalink Reply by Marco Robustini on -
@Allen: criticism is always welcome when construction.
I have not posted any videos because I am building three new drones with APM2 and will use for the video of 2.6 release.
At the moment there are problems of accuracy and stability with all the auto fetures such Loiter and Auto, we are working to resolve them, for this reason I consider it superfluous to make a video showing these features because they are the first to say and have always said that for are not working as it should.
Our goal for version 2.6 is solved "definitively" this thing.
Personally I have never used ALT_HOLD mode, but only as Loiter position / altitude hold, but no problems were found on the transition from these two modes.
Stay tuned...
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