Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
Hi Jeff, wait the next release of ArduCopter for better Loiter, don't spend time now for tuning this code.
Ok! Thanks for the reply! Hopefully the new release is soon!
For the past few days my log is not working anymore. When I try to pull the log it will shown the bellow:
ArduCopter V2.5.5] logs logs enabled: ATTITUDE_MED GPS PM CTUN NTUN CMD
Log -1791, start 1, end 1
Log -1790, start 1, end 1
ys negative, and there is no informations.
My hardware is APM2. I tried erase logs, erase eeprom, reset factory default, upload new firmware, upload fw using arduino. Tried latest code from GIT with new dataflash erase method, pul the dataflash and put it back.
My hexa flew well, it just I need the log to help me with analyze my copter.
Any idea what else I should do?
Images from Google Earth of my results with U-Blox GPS unit prototype:
Just for comparation with the images posted here by Chris (MTK GPS) this is my results with U-Blox GPS unit, judge yourself.
The first image is the Loiter of my latest video, the other one two AUTO mission (in the same flight) with 5 waypoint and autoland at the end.
In both test the wind is 8<->10 MPH, the autolanding at the end of this two mission has a maximum error of 4 meters from the point stated.
Chris has conducted the tests with more wind, tomorrow I will try the same mission with both the gps unit.
It's time to leave MTK if you want more accurate results (imho).
do you have details on your frame, ESC's and motors? Or are they the same as two months ago.
Hi Vincent, no, is different, my new little "kamikaze quad":
- X-Quad "black vetronite" frame by Alessandro Parisi (AleBS - Italy)
- RC-Timer 30A ESC reflashed with the latest "SimonK firmware" (working at 490 Hz)
- E-Max GT2215/12 motors (2s/3s LiPo, but i fly with 4s)
- GEMFAN 10x4.5 nylon+carbon props
- APM2 with U-Blox LEA-6 GPS unit (prototype by 3DR)
- 4s 5000 mhA 40C LiPo
- 3DR Radio 900 MHz telemetry
- TX/RX Futaba 2.4 GHz
- flight time: 11 minutes
Were can I get a U-Blox LEA-6 GPS to test.
Sorry Jack, but this is a prototype, not for sale and do not think it will be soon.
More Information http://www.u-blox.com/en/gps-modules/pvt-modules/lea-6-family.html
Put it on my Christmas list – LOL
What is the specific LEA-6 chip on this prototype?
I found these GPS modules with U-blox chips:
https://www.mikrocontroller.com/index.php?main_page=product_info&am... with LEA-6S with passive antenna
http://www.sparkfun.com/products/9436 with LEA-5H with active antenna
I want to make a try with one of these modules. Is it possible for you to make a suggestion? Do you have any idea about active and passive antenna performance? I think your prototype has a passive antenna.
I am also wondering if there is anyone having Sparkfun GPS module with U-blox LEA-5H and tried Loiter and Auto.
I have MTK GPS and obtaining S type large curves in Auto mode similar to the results of Chris.
I think we should just wait untill 2.6 comes out before blaming the new gps for the better results ;-)