Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
I just upgraded my Y6 this morning using the Mission Planner. It said that I was loading 2.5.5. When I go to the Terminal tab it says 2.5.3. Did you forgot to change the display version number or do I still have 2.5.3 loaded? I want to make sure I have the correct firmware before I attempt to fly – please help.
If your board had the scaling issue, fly with caution on 2.5.5, I have 2 broken props and I was careful! You will need all new PID values.
Could you elaborate a bit Alex, please? Which PIDs have you had to change? Do you know what caused you to crash? Which air frame are you flying?
I'm flying a DIY tricopter. It makes sense that the PIDs will need to change since the sensor signals generate the error term which is multiplied by the Kp, Ki terms to determine the ESC outputs. If the sensor signals are reduced by half by the new scaling in 2.5.5, the PID terms will likely need to be doubled to compensate (I'm assuming this, but I haven't looked at the code to see what the correction was).
I left my PIDs alone and it felt OK in my hand, so I lifted off 2 inches in ACRO mode to check, props hit the ground. It's no biggie to me, my props are <$1 each, but others with $$$ airframes should be careful.
Thanks Alex that's a good point, I stuck to the same params on a DIY tri from 2.5.4 to 2.5.5 and all seemed pretty much the same, didn't try acro mode though, I'll give it a go when i have more space...
You mean when it stops raining?, might be a long wait, just checked the monthly forcast and it reckons much of the same for the next month :(
Sunshine! Yee haa!
And I've been flying my tri about in acro - in a 3*3 garden!!! Then nose-in hovering in stab. It's making me a better pilot this APM :)
I just tried it again Y6 load again and this is what I got.
Free Ram: 3455
FW Ver: 117
Has anyone successfully upgraded Y6 firmware using the APM Planner?
did you erase EPROM(terminal window - 3x enter - erase) before uploading new code?
It’s fixed now. Looks like the Mission Planner was pointing to the old Y6 file and now it has been changed to point to the correct file. I loaded it this morning and will fly it in the next day or two.
I think that I found a glitch in the V2.5.5 Y6 firmware. I have a continual throttle glitch that causes my Y6 to surge up. I have tried everything, changed BECs, changed radios, changes ESCs. I finally took the board out of my quad and it does the same thing. This is a typical short flight.
All motors surge the same so it’s not causing a crash but it is definitely scary.
This is happen to my Hexa Setup as well. Moving my RX slightly far from the power distribution seems reduce the symptom.