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 Dave C on -
Yes, we do, its perfect for every occasion other than saying to your friends 'watch this, it can land itself.'
Makes so much sense for those of us with video equipment, where a random ground level gust could cost us more than our airframe.
And it works great, when auto and rtl are tuned/sorted.
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Permalink Reply by Jo Peer on -
Any updates on the auto-approach feature?
EDIT: Lol, I replied to your post at the top, my reply appeared at the bottom and the answer is one post above! Thx. :-)
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Permalink Reply by Dave C on
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Ok, I had less than an hour today so here's what i did.
Ripped out the Crius multiwii out of the tricopter, (leaving a very lightweight 'Jakub' foldable tri frame, with two slightly bent arms (the front two - due to a hard nose in, so the propshafts are pointing outwards slightly)
I screwed in 4 plastic stand-offs, so i could rubber band the apm2 in place, (this is a box fresh APM2 - my first one) unhooked two of the red wires from the ESC's, hooked all the wiring up inc reciever, uploaded 2.5.4, went through setup, then calibrated my esc's (all at once), just in case. Armed it, hand tested, quick garden hover, then got my mate to do this video.
This is stock params, obv need a tune but it's still lovely to fly despite chunks out of the props, bent legs, untuned params, the lot. It simply works. I know this is not much help to those having problems with tris but I suppose my point is this is proper out of the box stuff. Have you read ALL of the wiki? This is DIY, you may have missed something?!
Are you using recommended ESCs/motors? Always a good idea for your first go - only when you get it flying should you try different motors etc if you're new to this game.
There was one bit of weird behaviour in loiter (at 1:50) where the tri set off on its own and had to be brought back in stab, I've fitted the xbees and am waiting for the rain to stop and i will try to recreate it.
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Permalink Reply by Dave C on
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Here's the weird bit in loiter, pitch and roll both suddenly start to drift off.
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ModeratorPermalink Reply by Dean Wynton on -
Hi Dave just got back from testing the Tri again, as it has stopped raining down South at the mo... You may be aware there is a bug that affects some of the new apm2.0`s that causes the gyro to respond too slowly. Anyway this has now been patched in my firmware so that problem no longer exists for me.. Which should have helped with Loiter and rtl. I think the main problem is loiter as the rtl works but when it reaches launch the loiter kicks in, and it stays within 5 meters or so. It starts off rock solid then slowly drifts off then struggles back then drifts off more and more until it loses control. Flying it is not a problem although there are a few pulses or twitches now and then but very rarely and when flying aggresively the yaw goes out of sync and has to be manually pulled back into line. Other than that I would say I am happy with the way it flys bar loiter and auto..
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ModeratorPermalink Reply by Dean Wynton on -
O.K Dave here it is in Loiter mode but with Custom PID`s as the stock ones do not work for me...
Thats me filming and flying ( Or Loitering ) at the same time
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Permalink Reply by Mike Mac on -
What’s the easiest way to have waypoints to show up when I play back a mission? I am learning how to use the mission planner and have not found the correct button to push.
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Permalink Reply by AlexP on
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Ok, perfect. I hope the wiki gets updated with these details at the same time the functionality will be made available. I believe it is currently a little out of date.
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Permalink Reply by carnacea on -
There is evidence of redundancy with my octo Arducopter, first flying with 8 engines, then with 7 and then with 6, the strange movements are the result of my stupidity and not attributable to the plate, I must say that flew much better in the I did test before burning, I could nervousness jejejee the camera .... the video is up.
Sorry for my English, translated with google.
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ModeratorPermalink Reply by Dean Wynton on -
Hola Jose,
Tienes que fija los pilas y despues puedes volar sin movimiento abajo y sin oportunidad a una pila a saltar.
No se exactamente que has escribido arriba? pero tengo un idea, creo que google no funcionar perfecto cada vez?
de donde estas? pareces Andalucia..
disculpeme mis Espanol, no es tan perfecto tambien:)
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Permalink Reply by carnacea on
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Hola, las baterias las he dejado sueltas par ponerlo mas dificil, tienen su alojamiento fijo y seguro, la intencion era probar que ocurria con un motor menos y despues con 2 motores menos y todo ha ido perfecto, si, soy de Andalucia, de Ayamonte en Huelva, ha volado mucho mejor cuando he hecho pruebas sin grabarlo, la version de firmware es la 2.5.3
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ModeratorPermalink Reply by Dean Wynton on -
Bueno ya entiendo, estoy volando con un tricoptero con version 2.5.4 pero tengo un Y6 tambien pero es en construcion todo via. Aqui en ingleterra no tenemos tanto oportunidad a volar porque la lluvia, ahora mismo tenemos tiempo del perros, creo que hace dos meses de lluvia, por eso yo no ha tenido tiempo a volar mucho, pero bueno espero que viene el sol pronto?
Un saludo Dean..
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