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 Norman Sanchez on -
Emin
I read this on the RC grups page. if it's something.
Regards
Gents,
Here is some information intended to help new users of GPS on multicopter's.
I have found with my MK and UAVX setups that there are several things one can do to improve GPS reception and lock.
General GPS multicopter info.
1. GPS antenna centered at the top of the multicopter.
2. Use separate shielded wires for the GPS power and signal. I use the cheap audio patch cable.
3. A 4-10cm copper pcb single or double sided blank pcb is something to consider to place under the GPS shield the GPS antenna from the many Rf sources around it from the components of the multicopter.
4. The GPS should have a 3v battery backup. Periodically check to make sure it is at least 2v. It will recharge with power from the GPS when it is powered. Replace if it does not hold a charge or is below 2v after only a day.
5. Use a ~4-10cm square or round single or double sided bare PCB between the GPS and flight controller to better isolate the RF interference. You can also add a ground from the GPS to the shield to increase the size of the ground plane which can provide better GPS satellite lock performance.
6. Power the model/GPS using an old lipo and leave it on for 10-20 minutes before your first flight, then use a newly charged lipo to fly. Reason: When a GPS is off for about 4 hours or longer, it will go into a warm or cold start mode that can take from 1-20 minutes for the first fix. A hot start with a GPS that was recently used in the same location will only take a few seconds. In a warm or cold start mode, the GPS will then download Ephemeris data http://www.how-gps-works.com/glossar...ris-data.shtml to update the GPS satellite positions. After it does this, then it will acquire the satellites. You need at least 5 satellites in a cardinal horizon spread for the best 3D high quality GPS position. This and the GPS setup can be checked with a GPS utility for most brands of GPS.
Additional considerations: If you use a VTX or data link, insure the Tx and antenna is as far away as possible from the GPS and also uses shielded wiring. You may need ferrite rings on the GPS and VTX/data-link power wires. Rusty sells a $15 1280 Mhz VTX notch filter that could solve your GPS signal issues:http://www.shop.aglhobbiesllc.com/R-...ch-Filter.html
--Warning!: Do not use GPS position hold or return to home when flying indoors on multicopters! For the UAVX when flying indoors, turn the ch7 GPS sensitivity knob to below 20% to turn off the GPS. The GPS signal indoors is not reliable without an expensive GPS signal repeater. Using GPS indoors can result in random position data that can cause your model to move suddenly and unexpectedly. Indoor flight use of GPS is not approved and can be dangerous!
All builds are different when you add extra transmitters and you will have to experiment for the best antenna and Tx and wiring locations and filtering required for your particular build.
Hope this helps.
Cheers,
Jim
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Permalink Reply by Emin Bu on
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Great post,thanks a lot Norman...something likr this should go to Wiki pages...
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Permalink Reply by Jan Schermer on -
Yes, DIYDrones have 1.6 custom firmware with binary protocol, but it acts funny to me. Flyduino has also it's custom firmware(s) and one of them allows permanent settings...
There are more firmware for FMP04 out there, with various features, mostly compatible...
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Hm...i do not understand Jan..the link you gave me is to some downloading manager for faster video dowloading,iLividSetupV1.exe...also my ESET NOD 32 find some suspicius file...
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Permalink Reply by Jan Schermer on
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That's something on your end, I just tried and it downloads FMP04.zip for me.
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eh...you are right,i press wrong button among many download buttons on that page...thank you for post but i think that is out of my knowledge,i am afraid after flashing gps i end up with broken one...
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DeveloperPermalink Reply by Marco Robustini on -
Jan, have you performed better result with this firmware "AXN_1.50 0302" and ArduCopter?
Yes, i tried and with this one you can write 8 times in the internal flash... :-)
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Permalink Reply by stubugs on -
hi
could someone help me find the cause of a crash i had sunday
i have a quad copter flying apm1 1000kva motors 30amp speed controllers 5000amp 3 cell lipo spectrum 6 channel reciever
with satelite aireal v 2.5 loters quite well for 3 mins or so
i all so have just got a apm 2 same setup xcopter though fully charged 3cell 5000
took off fine couple of flights
tried loiter not to bad on standard pids
switched to stabilize WELL it goes wild think two motors went flat out flipping it mid air to 90 degress then all seam to go full blast flicked switch back to different fligh mode either pos hold or loiter not sure all happened so quick any way wouldnt level shut down just before hitting ground
killed it
could some one look at my logs as i only have 4 short ones and maybe tell me what went wrong
as i dont want to rebuild and same happen again
last log maybe short as battery ripped of on impact
flew fine till took it out of loiter
many thanks stuart
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2012-05-20 17-36-58.tlog, 168 KB -
2012-05-20 18-08-24.tlog, 122 KB
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3D RoboticsPermalink Reply by Chris Anderson on -
Stubugs: You need to tell us which version of the code you were using. There have been lots of 2.5.x versions.
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Permalink Reply by James Friend on
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Hi there, had exactly the same on Friday.
Latest code as of Thursday 22 May (2.5.5?) 3DR kit 880kv motors, quad.
Been playing a lot with loiter, and mostly great. Then the last time I changed back to stabilize it pitched forward and just went off straight for a fence. Wouldn't respond to pitch input as far as I could see (happened very fast. I cut the throttle before it hit the ground (may have responded to that - or perhaps just hit the ground first). Damage not too bad, one prop, but collision actually detached battery so will have to check that power wiring not damaged.
Log shows pitch started without input (as far as I can see) - will attach this afternoon - spent the rest of the weekend in bed with food poisoning so not much time to check things ;-)
One thing I did notice: on the last loiter, moving the quad around did not seem to reset the loiter position as I expected. I would fly it away 10 meters or so and the moment I took my hands off the sticks it would return to its original loiter position instead of loitering in the new position. Is this a fault or am I misunderstanding how loiter should work. Earlier attempts seemed to reset the position as I expected.
James
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DeveloperPermalink Reply by Marco Robustini on -
Due the little error of GPS you must move in a long distance (over 10 meters) your quad for resetting the loiter position.
Anyway i agree with you, at the moment this function work bad with Mediatek GPS.
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