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 Aaron Curtis on -
Jose, great stuff! I see that this is "firmware 2.5.3 con ajustes por defecto." Does that mean you modified the code? If so, are your changes available? I would like to try this on my coaxial octocopter.
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Permalink Reply by Marc Puig Pasarrius on -
It means with default PID's, he hasn't adjusted any parameter.
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Permalink Reply by Henri on -
Happy that everybody pointed me in the right direction:
http://code.google.com/p/ardupilot-mega/wiki/APM_External_Editor_Tu...
1. First download Avr Studio (the official IDE from Atmel - AVR Studio 4.18 (build 684) (116 MB, updated 11/09)) and its latest service pack, currently SP3.
http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725
2. Download the Winavr IDE containing the C compiler that will be integrated into the Avr Studio.
http://sourceforge.net/projects/winavr/files/WinAVR/20100110/WinAVR...
3. Install all downloads.
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Permalink Reply by Dani Saez on -
Hi guys,
I was almost done for the day when a friend showed up at the field with his Harpoon II with it's 90mm jet, I just couldn't resist, I only had one full battery left. Just had to try to "chase" it. It ended beeing a slow follow up and down the runway, but cool anyway ;-)
It would have been better with less wind....
here's a short video: http://www.youtube.com/watch?v=arl3I2X8RGk
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Permalink Reply by Eddie Weeks on -
It must just be me... I have had 2 crashes of two different Tri-copter over the last week...
Both crashed the same way... Bank right ~40 but when try to return to level, the craft goes to 80-90 deg, then crashes..
I would attach the tlog but the xbee was destroyed in another crash weeks ago..
I fly every day and about once a week I shoot video or pictures as part of my side job....
First crash... AMP 1.0 with 2.5.4...
Second crash AMP 2.0 with 2.5.4
in this fig... red line is my input (roll)... Green is attitude measued by AMP2.... all seem correct to me.... ...
For most of the flight.. hard turns and banks.. they are very close... like it should be...
but at the end... they diverge and the tri.. crashes...
new 2 x 5000 mah batteries...motor logging was not on...
I know there is not enough info here for someone to tell me what happen... but I can't fly anymore...
Here is link to it flying properly
http://www.youtube.com/watch?v=ET1NbSOKS0U
Eddie Weeks
- Attachments:
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2012-05-09 17-02 153.log, 221 KB
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Permalink Reply by afernan on -
I wanted to be the post 100.
Anyway, we are working hard in dev team to improve loiter performances, between other things. There are several promissing ideas rolling around
Here is a video showing some test
http://vimeo.com/41838784
Angel
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Permalink Reply by Jo Peer on -
That look promissing indeed. Well done!
Any idea on when 2.6 with all the improvements is going to be launched? One week? Two weeks? Just to have an idea...
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Permalink Reply by Jason Tinacci on -
Great video, Angel.
Can you share the details of your quad? Params?
Impressive loiter!
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Permalink Reply by Rod Cole on -
Wow, that looks every bit as good as my buddy's Wookong M! Can hardly wait!
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Permalink Reply by James Friend on
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Hi Everyone
I have just noticed a noticeable improvement in stability after some changes to ESC setup. I am using the standard ESC's supplied with the DIYDrones kit and the 880kv motors.
Upon going through the documentation for these ESC's I saw that the default timing setting is Low, and while I know the ESC's should sort out most timing issues automatically I know medium is the recommended setting for multicopters.(http://diydrones.com/forum/topics/ac2836-358-880kv-pole-count) I changed the timing to medium as per the instructions that came with the ESC's.
I decided that while I was doing this I might as well throttle calibrate each ESC individually as well. When I first built the quad I throttle calibrated all the ESC's together as in the Wiki, and this seemed to work well enough, the quad was quite flyable.
I can say there is a visible improvement in stability after these changes. Whether it was the throttle calibration done individually or the ESC timing I can't say, but it was well worth the exercise.
Hope this helps someone who may be struggling with stability.
James
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Permalink Reply by Lars Carlen on
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James,
You wrote "the documentation for these ESC's I saw that the default timing setting is Low"
and
"medium is the recommended setting for multicopters"
and finally
" I changed the timing to medium as per the instructions that came with the ESC's."
So you followed the instructions given by the manufactory?
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How to connect an ESC during individual calibration? RED,BLACK and (signal) WHITE to the throttle output from the receiver?
I hope you have time to help me with an answer.
Lars
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