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 Lino Silva on -
@ Lars
You need to avoid the "ground effect" going a little bit higher (1-2 mts) before starting to twick PID´s. Around seconds 22 and 40, in your video, it looks like it starts to stabilize. However. it´s a very short period to jump in conclusions. I the other hand, simulators can´t hurt :)
ls
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Permalink Reply by Lars Carlen on
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Lino,
thanks for the advices and you are absolutely right, it CAN stabilize.
http://www.youtube.com/watch?v=Vdt13ozGMRM&feature=youtu.be
Unfortunately I became paralyzed by the stable flight and could do nothing but take it down!
Hopefully better prepared mentally next time.
Lars
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Permalink Reply by James on
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Lars,
tuning can make it much better! - i was going to say docile, but its not that, tuning can make it sharp and predictable.
ive been here even less time than Rui, but have a very similar Hexa setup and can offer you my current tune as a starting point. its a jDrones frame with the same motors and ESCs as yours, with APC 12x3.8 props, it could probably be adjusted a bit due to the different props, but im almost certain that this will go better than the default params:
RATE P: 0.095 I: 0.020 D: 0.010
STAB P: 3.700 D: 0.150
the RATE values are the ones you really need to get right, but looking at your hexa and how nervious it is now im pretty much certain these values will be an improvement.
as for staying that close to the ground, ive always found it much easier to gain a bit of altitude and have some space to move about, though if it feels *really* unstable i know it feels that you have little or no control over where its going.
coming up to 7 hours of flight time now and its only really in the past month or so that ive finally got the tuning right. really it makes all the difference, i can fly and land in 40kmh gusts now and its rock solid.
james
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DeveloperPermalink Reply by Marco Robustini on -
ArduCopter V2.6ß - Video of all the automatic function (APM2 - 3DR U-Blox LEA-6H GPS prototype):
Hi all!
The team is working hard to offer you an experience of flying stable and functional.
This video demonstrates the reliability of all the automatic functions with the new code, using APM2 and the new "3DR U-Blox LEA-6H GPS" prototype, soon be available on the market.
The excellent accuracy of this gps unit, combined with a good debugging of the code, offers a tangible improvement of all the automatic features, including the new "AutoApproach", available soon on the planner in the upcoming 2.6, which will be released when we are 100% sure this all works out constantly.
In this video my new "APM2 Kamikaze Quad" (frame by Alessandro Parisi), Emax GT 2215/12 motors, 10x4.5 nylon+carbon props and cheap RC-Timer esc (30A, 10$) reflashed with "SimonK" firmware.
Stay tuned!
-= Marco =-
(AC Dev Team)
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Permalink Reply by Norman Sanchez on -
Marco. Excellent congratulate them.
I apm faithful follower from the beginning, I hope with patience the new code, and the newGPS. This GPS also worked for the apm 1.4?. I feel very comfortable with the 1.4 apm soon acquire the purple. I have octoquad x. if you give me some quick tips for maintaining altitude.
apm 1.4. lv ring XAircraft ez4.frame and 850kW motor. XAircraft 10x4.5 x 8 prop. 1600grams. with camera battery, etc.
V2.5.4 Code pid default, solid as rock. only small problems yoyo effect at low altitude hold high the sound very well protected. showed no failures as quad
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Permalink Reply by Dave C on -
Yep, that's some good work there!
I've found that with my APM2 i also get a bit of altitude hunting in auto modes. I just setup channel6 for throttle rate, reduced it a bit from default to 0.18 for my setup and the hunting has stopped. The accuracy remains the same but the yo-yo effect is much reduced.
I've just built a super-powered DJI framed quad, if this 2.6B is up to scratch I'm going to copy your video Marco, but at 12m/s ;)
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DeveloperPermalink Reply by Marco Robustini on -
Sorry for the delayed reply, Norman!
Yes, you can use the U-Blox also with APM1.
We are still trying to figure out where the problem lies in the Mediatek GPS, before releasing the new version I hope we can fix this problem
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DeveloperPermalink Reply by Marco Robustini on -
I edit my post with all the specs...
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Permalink Reply by Vincent Mees on -
Marco,
How do you like the "SimonK" firmware. A few pages back you mentioned it wouldn't make any difference.
Very nice video.
More info on your setup please.
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Permalink Reply by emile on -
Vincent I am a very happy customer of the SimonK firmware like Marco is.
It does make a huge difference on stability and noise
Also performance is slightly better.
Emile
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Permalink Reply by Vincent Mees on
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Emile,
Thx,
I allready succeded in flashing a plush 30A ESC but havent flown with it.
Will try to flash 4 ESC's and try.
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