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
-
Permalink Reply by James Friend on -
Hi Lars
Yes., I followed the instructions included with the ESC's by the manufacturer.
You are correct, the RED,BLACK,WHITE cable goes directly to the receiver throttle output. Be sure not to reverse the connection, as there is 5V power coming from the ESC connector!
Hope this helps
James
I
-
Permalink Reply by James Dinh on -
Always double check. The black wire is on the outside of the board, usually on most boards.
-
Permalink Reply by Lars Carlen on
-
James F and James D,
thank you for the clarification!
Lars
-
Permalink Reply by James Friend on
-
No Problem
Please let us know if you have seen any improvement with these changes, would be interesting to know.
James
-
ModeratorPermalink Reply by Dean Wynton on -
You will probably find that it was the esc timing, if the throttle calibration was not correct on start up when you increase the throttle you would notice that the props do not start moving at the same time. This would also cause the quad to move in one direction or the other as the motors are not in balance, whilst this could probably be resolved using auto trim in flight? you would have noticed beforehand that the motors were not in sync with each other..
-
Permalink Reply by James Friend on
-
I suspect you are correct Dean. Not sure how much throttle calibration would affect the quad in stability mode, as the APM would simply add or reduce thrust to some motors to bring it back to level. Perhaps one of the developers could give us some more information on how the software works at this level?
Perhaps in Acro or other modes this would have more effect?
James
-
Permalink Reply by steve F11music.com on -
Which sonar is better to use with APM1.4?
https://store.diydrones.com/MB1260_XL_MaxSonar_EZL0_p/ac-0004-16.htm
http://store.diydrones.com/MB1200_XL_MaxSonar_EZ0_p/ac-0004-15.htm
It seems the beam patterns and W output are the same so what advantage does the 1260 have over the 1200?
-
Permalink Reply by Dave on -
I'm using the EZ0 which detects a single-strand wire fence from about 3m above! The EZL0 is even more sensitive and longer range. However, it is also likely to be more susceptible to interference from the quad. After reading of problems people have had with interference, I settled for the less sensitive one and, with careful shielding and fitering, it seems to work well.
-
Permalink Reply by steve F11music.com on
-
You're using this one? https://store.diydrones.com/MB1000_LV_MaxSonar_EZ0_p/ac-0004-11.htm
or the MB1200?
-
Permalink Reply by Jo Peer on -
I have a problem with CH6 Tuning.
I would like to use my CH6 for tuning Rate Roll/Pitch.
What option do I have to select? I've selected CH6_RATE_KP for the moment and set a min/max value of 0.8/0.14.
The only problem is that CH6 isn't changing any of the values in MP. The only things that I do see is that every time I connect my APM the basic value for Rate Roll/Pitch have been reset to 0.000.
When I don't assign CH6 for tuning, no problem, values stay intact.
What am I doing wrong?
-
Permalink Reply by James Friend on
-
Hi Joe
Did you calibrate CH6 in mission planner? A lot of people (including myself) seem to forget this step because they calibrated the other channels when setting up the Copter and then started using CH6 tuning later. Also is your CH6 correctly associated with a switch on your transmitter?
Hope this helps
James
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
ArduRover User Group
185 members
-
Turkish Ardu Group
6 members
-
Agricultural UAVs
129 members
-
ArduCopter Italian Group
87 members
-
Moderators
24 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
