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 Jan Schermer on -
Do you have something set for CH7? (Like CH7_RTL?)
This happened to me when CH7 was not calibrated - even slightest variation in PWM output from the RX caused it to jump into RTL momentarily, and it looked like surges...
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Permalink Reply by yovio on -
Regarding Thottle glitch issue, I just made a flight test and encounter a glitch again. When I look at my log, I'm quite surprise with the Thr In graph of CTUN log. The thorttle is shown a glitch.
Also I analyse Roll IN of ATT log, there is 1 value on row 4747 and the value is very high 32610.
Is this alrigh?
I was also reporting what I feel an issue with this APM2 board that I have on another thread. The board that I have now (my second board), the Tx & Rx led (Orange) will flicker very fast when I turn on my TX.
Do you guys think this issue and my thortle glitch related? I'm suspecting the ATMEGA8U2 that responsible to decode RC signal is too busy with the serial TX & RX and causing the RC decoding functionality not working properly.
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Permalink Reply by yovio on
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I understand now that the flickering Rx & Tx led is new feature of ArduPPM fw 2.2.66, my other board (first batch) was still using fw 2.2.65 doesn't have this feature.
It seems the old fw more stable for me, so I flashed my my ArduPPM with 2.2.65 and will monitor whether the glitch is still exist or not.
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Permalink Reply by Peter on -
Hi Guys can someone tell me what effect a too high Rate P value has (Mainly how do you know when it is too high).
Too low and my hexa is all over the place but from 0.19 to 0.21 seems much stable, but how do you know when you have gone too far.
Regards Pete
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Permalink Reply by Wesley Chuen on -
When it's gone too far, the copter would vibrate/wagging/nodding.
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Permalink Reply by Dave C on -
If you, for example, push the pitch stick away from you then release the copter should move forward and then return immediately to level when you release the stick, without oscillation.
If the copter goes past level (tips towards you a bit) then rate_P is too high (this will effect will be more noticeable during a fast decent, if your rate_p is too high it will wobble around level all the way down.
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Permalink Reply by Oliver on -
Sad story. It seems to be that the APM1 128k is no longer supported. Mission planner is telling me that I should upgrade :(
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ModeratorPermalink Reply by John Church on -
I haven't uploaded via planner, but grabbing the latest from the trunk uploads to a 1280 just fine if you #define CLI_ENABLED DISABLED ...
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Permalink Reply by Lars Carlen on
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Home-made + hexacopter, 1.8 kg + 3700 lipo
APM2 2.5.5 as downloaded by Planner
jDrones AC2836-358 880 Kv motors
jDrones 30 Amp ESCs
12x45 propellers
Graupner mx-20http://www.youtube.com/watch?v=yh6J5bn7cVU&feature=youtu.be
I don´t dare to launch so I keep the hex close to ground. Too close?
I am still too unexperienced to fly this bronco. COULD PARAMETER ADJUSTMENTS MAKE IT EASIER FOR ME or should I stick to the simulator another month?
Lars
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Permalink Reply by Rui Manuel Cravo Marques on -
ahahahahahaha that brings me back some memories. Lars, let me tell you that about 1 year ago I was on your shoes. I had never flown any planes or helicopters much less multicopters. I had no experience whatsoever and I was affraid of the reactions untill the day I tookit above 1mt high and I felt so good :D
First, choose a less windy day, or if you have a big indoors space where you can go even better (like a gym), if not, have patience and wait for less wind. Your hexa may not be very well tunned but it looks flyable without oscillations, so, set it on the ground, heading away from you, don't use yaw stick for now and use only pitch and tilt. Accelerate untill you have it about 1mt above the ground and use the sticks to try to have it hovering as steady as you can. If you are like me, the thing that scares the most is not knowing how fast reactions are going to be, and trust me, they will not be as fast as you are expecting, but go easy on the sticks :) have it hovering for small periods of time and you will start to feel more confortable with it. Good luck :)
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Only one year since you entered this business, it really true? Your words give inspiration to continue. Tonight less wind here.
http://www.youtube.com/watch?v=Vdt13ozGMRM&feature=youtu.be
Thank you and please keep contact.
Lars
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