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
-
DeveloperPermalink Reply by Marco Robustini on -
I think this two unit are compatible 100% (with correct initialization file), and costs only 40$:
http://www.goodluckbuy.com/gps-receiver-u-blox-module-with-ceramic-...
http://www.goodluckbuy.com/gps-receiver-w-u-blox-gps-module-built-i...
The chipset is the same, the antenna dunno... :P
I can not guarantee that this gps (is for the Rabbit FC) can work with APM/12 without problems.
Remember: no warranty or assistance of the products buyed not from DIY Store...
-
Permalink Reply by Rui Manuel Cravo Marques on -
Hi Marco, I have a Rabbit GPS and I uploaded the config file, the problem is that this GPS doesn't have a flash to store it, so it stays only in RAM wich looses configuration as soon as the battery goes flat.
I had it working with the APM and yes, it does work, however if you disconnect from power for about 30min it will loose config and resets to default 9600 nmea.
-
Permalink Reply by Emin Bu on
-
Marco and Rui,what can you say about Rabbit FC,I orderd this one
http://www.goodluckbuy.com/rabbit-cf-hight-direction-fixed-flight-c...
for my second multirotor,will it be a problem with Y6 configuration?can you point me to latest softwere?
-
Permalink Reply by Rui Manuel Cravo Marques on
-
Hi Emin Bu, I have not configured any Y6 ever, so I can't tell. The best thing is for you to register at RCgroups and follow this thread http://www.rcgroups.com/forums/showthread.php?t=1564594&highlig...
At thread tools you can find all attachments posted and software version is 1.210 at the moment. If you can't find it, I can send it to you. It's a closed architechture so you can't fiddle with the code, it's not for autonomous flight so you're limmited to position hold and rtl. I have one and I like it, however it has some minor bugs (or at least mine has). I had some motor failures and I know it was not from the motors, but right now I'm unable to fly with my test quad since I'm waiting for motor stands. The stability when properlly tuned it's great. It's the only FC I dare to fly in my kitchen at over 2mts high lol. You may find me at rcgroups under "nevoeiro1974" nick.
-
-
DeveloperPermalink Reply by Marco Robustini on -
@Rui: have you check the firmware installed in your unit?
I see a little backup battery in this gps, i don't know why you loose the setting when remove the main LiPo... ?!?!?
@Emin: i use Rabbit like Rui and work superfine, there's some videos on my youtube channel about this board.
-
Permalink Reply by Rui Manuel Cravo Marques on
-
Hi Marco, sorry to answer just now but I missed this message don't know why. Yes I've checked and read manuals up and down :) The NEO 6M is ROM based, and it does not have flash to hold the configurations, so, the configurations can only be stored to RAM wich can hold it for as long as the battery can hold, when I have it without external power source it can hold the configuration for about 30m then the battery goes down and it looses it. I have ROM ver 7.03 . Your LEA 6 should have a flash to hold the configuration. I'm trying to find a workaround for this, if I succeed, I will let you know.
-
-
Permalink Reply by Chris Kreuzer on -
The Maidenflight of my 3DR Hexa...
PID = standard... just stab P --> 4.2 --> 4.1 --> 4.0
Wind is a huge problem... the Hexa shake really much...
Standard PID Settings dont work for me ;-((
Code 2.5.5.
Standard Parts (850KV motors)
4s Lipo
-
3D RoboticsPermalink Reply by Chris Anderson on -
Chris: Have you balanced your props? I flew exactly the same setup (with balanced props) yesterday in 15MPH winds and it was rock solid.
-
Permalink Reply by Chris Kreuzer on
-
Yes I have balanced my props. Which LiPo do you have?
Do you use stock PID settings? Do you use auto declination?
-
Permalink Reply by Lars Carlen on
-
Hi all!
Don´t be afraid, I will soon stop writing about my testflights here.Watch instead videos by Marco, Chris, Chris...
But I am proud of my progresses!
Lars
-
Permalink Reply by Rui Manuel Cravo Marques on
-
Lars, I believe your videos are most welcome, and I'm pleased to know you are making good progress :D reminds myself, and yet I am not anywhere near experienced as Jason, or Chris or Marco, and small things make me happy too. I still get confused when my quad or hexa are not facing forward and I loose orientation, but I'm making small flights to get used to it. Keep on, there's a lot for you to discover here :)
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
Moderators
24 members
-
ArduCopter User Group
1288 members
-
South African DIY Drones…
57 members
-
ArduPlane User Group
680 members
-
ArduCopter Italian Group
87 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
