Developer

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:

  1. 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.
  2. Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
  3. 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).
  4. Increased output rate to ESCs to 490hz.  This update rate is also user selectable using the new RC_SPEED parameter.
  5. hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
  6. improved baro filtering
  7. fix to dataflash logging of Mag heading
  8. 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!

 

Tags: ACM, APM1, APM2, Heli, Quad

Views: 115132

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Replies to This Discussion

Permalink Reply by James Friend on May 22, 2012 at 10:46am

Thanks Marco, that makes more sense!

Permalink Reply by James Friend on May 22, 2012 at 10:54am

Hi Guys, here is my log of similar problem (see my 1st reply to Stubugs post) 

Firmware 2.5.5 
APM2 880kv motors 3DR kit 

I change to stabilize at line 12573 and then things go wrong!

Hope this helps identify any possible problem

Do you only require the *.log file? Is there a description of what the different files contain somewhere? 

James

Attachments:
Permalink Reply by stubugs on May 27, 2012 at 9:56am

hi james 

rebuilt quad x frame reflashed 2.5.5 calibrated rc set level with spirit level not just on table

wow flew brill loitered for 11 mins within a 10 m radious held hight very well

basically does what it says on the tin

flew 3 more flights could not replicate comming out of loiter faliure so with this conclusion could have been a flashing glitch or maybe a bit of an old setting not quiet erased

ready for fpv goggles now when video trans arrives

stu

 

Permalink Reply by James Friend on May 28, 2012 at 2:55am

Hi Stu

I have not yet flown since the crash - between work and weather there hasn't been a chance. The "coming out of loiter" failure certainly does not occur all the time, so I hope we don't see it again!

As for the spirit level - yes, I believe this is a very important part of setup. After years of keeping aquariums I can say with confidence there is no such thing as a level floor or table! I use a laser level to set mine up, ensuring that the top parts of the motors are all at the same level, and it makes a huge difference.

My next step will also be video - not sure if I want to go with goggles yet or just a monitor though - will see what the finances look like!

Cheers

James

Permalink Reply by stubugs on May 28, 2012 at 5:51am
Hi james s spoke to soon just flew at work today at dinner time went to loiter fine came out of loiter and bang it threw its self over at full blast luckly only 18" of of ground so no damage tried again problem didnt show its face again but did turn loiter of after landing any ideas chap
Regards stu
Permalink Reply by James Friend on May 29, 2012 at 5:09am

Hi Stu

Sorry to hear. Was afraid it may prove to be an intermittent problem, and I will certainly not be trying loiter again until I hear something from the developer side. We are not the only people to report issues after changing flight modes, but I see no one has commented on the logs we posted. I haven't had much time to look at the forum lately so not sure whether anyone else got any answers!

Permalink Reply by Peter on May 22, 2012 at 12:21am

Hi Guys could someone have a look at my video and suggest any tuning tips, the Hexa seems a bit wobbly.  Maybe my Rate P is a bit too high.

Xaircraft Hexa frame KDA 20-22L motors, Apm 1 Code 2.5.4

Stabilise P 4.2 I 0.1 D0.140 Rate P 0.19 I 0 D0.001

All other settings standard.

Any help would be most appreciated.

http://youtu.be/he6dGw5OBbs

 

Regards Pete

Permalink Reply by Rui Manuel Cravo Marques on May 22, 2012 at 1:53am

Hi Pete, you look to be flying the same frame as I am. My test showed that regarding RATE_P this configuration can use a very wide range - I'm using sunnyski x2212 motors wich should be identical. I sticked with a lower RATE_P of 0.1, RATE_I 0.02 and RATE_D 0.001, Stabilize P of 3 and Stablized D 0.100 (Stab I 0.0) , but I'm not doing FPV so I don't know how reactive you want it to be, also I've just made 2 flights so far, but I enjoyed the reactions.

Permalink Reply by Peter on May 22, 2012 at 3:21am

Thanks Rui will try but I remember when I dropped Rate P to 0.12 it felt like the hexa was all over the place but could have been the wind.  I will try again tomorrow with your Rate settings.

I will let you know how it works.

 

Regards Pete


DeveloperPermalink Reply by Marco Robustini on May 22, 2012 at 4:13am

Peter, post here your complete set of parameters (in a file).

Permalink Reply by Peter on May 22, 2012 at 8:55am

Hi Marco thank you for taking the time to help me, I just seem to be taking one step forward then two back. 

My hexa is carying a 4000mah 3s battery as well as the Sony Bloggie 130 grams. I think the weight is what is pushing my Rate P high but I dont know.  I just want to smooth out my flight and stop the wobble.

Thank you once again. 

Attachments:

DeveloperPermalink Reply by Marco Robustini on May 22, 2012 at 11:22am

Have you tried with 4s? If your motors/esc support this voltage i think you can archive better result.
However try this mods:

RATE_PIT_D,0.007
RATE_PIT_I,0.01
RATE_PIT_P,0.14
RATE_RLL_D,0.007
RATE_RLL_I,0.01
RATE_RLL_P,0.14
STAB_D,0.002
STB_PIT_I,0
STB_RLL_I,0
STB_PIT_P,3.6
STB_RLL_P,3.6

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