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: 116087

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Replies to This Discussion

Permalink Reply by Jo Peer on May 31, 2012 at 8:46am

Luke, I agree with you.

I would also like to narrow down the buffer zone to 5-6m.  Actually, the buffer zone could be dropped entirely and we could keep into account that GPS might be 5-6m off.

Like that super simple mode could be a rescue mode that's almost useable in every situation.  Even if the GPS has an inaccuracy of 5-6m, I wouldn't care about those couple of meters.

Is it for sure that this parameter can't be set in the MP?  I don't like messing around with the code and arduino myself.

Maybe Marco could have a look at this?  I might be posting an issue for the developers.  Let's see what they think about it.

I really would like to use super simple mode only, normal simple mode has no use for me.


ModeratorPermalink Reply by Dean Wynton on May 30, 2012 at 11:08am

I have been getting a violent twitch on the roll of my Tricopter, it only happens when I am very slightly touching the sticks in order to hover, if I let go it doesnt happen and if I am flying it doesn`t happen? I thought it may be the dynamic gain on the Stab D parameter and have changed it several times and whilst it seems to be less violent it still happens?

In fact a few days ago it flipped several times and into the deck for no apparent reason? I was just hovering after probably ten minutes of auto mode and some hard flying. Has only flipped the once with months of the same settings and hasn`t done it since?

Any ideas would be welcome?


DeveloperPermalink Reply by Marco Robustini on May 30, 2012 at 11:51am

Hi Dean, have you log of this event?
Sometime i've little twitch with APM1/2, but only when i fly "hard and fast".


ModeratorPermalink Reply by Dean Wynton on May 30, 2012 at 2:30pm

This could be it?

As you can see there are a few out of place pulses? I will have to get you a proper log tommorow as I lost a motor today, and on a Tricopter that means kissing the dirt..

Permalink Reply by Jo Peer on May 30, 2012 at 3:03pm

I need some help on tuning my hexa.  I built this hexa for AP purposes.

I'll try to explain what I want out of my copter.

 

Alt-hold:

Alt-hold is working, the copter stays within 1 meter or so.

The problem is that it reacts too aggressively.  I would like the throttle to be increased in a soft way to maintain altitude.

Which parameters do I need to adjust up or down to get this kind of effect?

 

Position-hold:

When there is some wind, the copter starts to drift immediately.  When it's away from the point where loiter was engaged, the copter reacts very aggressively.  The copter also tends to loiter in circles.

The same here, which parameters do I need to tune up or down to get better results.

 

Stabilize:

It's flying stable most of the time.  Sometimes there are oscillations, but I'm not sure how to judge them. (small osciallations (twitches) vs. bigger wobbles)  They're like in between.  I also get them when descending.

Which parameters do I need to adjust in what way?

 

Last question:

Which parameters need to be tuned in what way (up or down) in general for a AP setup?

There might be typical adjustments for smoother AP flight. (I know parameters need to be adjusted to different setups and payloads, but just in general)

 

I really need help on tuning.  It really is not that easy, even when everything is explained in the Wiki pages.

 

Thank in advance!

Permalink Reply by Norman Sanchez on May 30, 2012 at 4:44pm

Hello there are some videos that explain the configuration of the pid megapirate avionics is similar in the arducopter.
I hope to help.

http://www.rcgroups.com/forums/showthread.php?t=1521520


 

 

Permalink Reply by Jo Peer on May 31, 2012 at 8:52am

Hi Norman,

I've seen this video before.  I'll try to use it again to analyse what's wrong with my PID settings.

 

Tuning PID settings is so hard to get it right.

That's why I posted my PID problems above. 

 

Tuning PID also depends on what you want out of the copter.

My copter will be used for AP, that's also why I was asking for specific help on tuning PID for AP purposes.

 

But thanks anyway, like I said, I'll have another look at the video!

Permalink Reply by Jo Peer on June 1, 2012 at 9:05am

I had another look at the video.

It's all very confusing because when you read the wiki about tuning and see the video, it's like they're using different methods.

 

For example: wiki says to increase rate P when wobbling occurs while descending, video says I terms need adjustment.

See what I mean, it's all even more confusing.

 

Also, I think there was another part to this video.  Didn't they start tuning PID's in acro mode first to get rate/roll P right?

I don't even have acro mode programmed...

 

I'll have to use trial and error method I think.

I hope I don't crash my hexa trying out PID settings...

Permalink Reply by steve F11music.com on May 31, 2012 at 4:53am
Regarding the simple and super simple modes. I have been using what I guess is simple mode because I'm just using iton the ch7 switch. I never fly to close to myself so haven't run into the problems described earlier. Now after reading the wiki about it, I don't think the instructions are clear. Simple talks about flying the compass and pushing forward take the copter north but I think who wrote that might have meant relative north or in other words in the direction the copter was facing. Super simple I've never tried but I'm not sure what the difference would be. In both cases wouldn't pulling the stick back bring it home, assuming you haven't walked away from your launch point. Is the difference in ss mode that you can turn around and pulling the stick towards you would bring it back even if you had turned your body 90 degrees? Definitely seems more intuitive if that is the was ss mode works. Maybe in the wiki there could be some graphic to show the differences.
Permalink Reply by steve F11music.com on May 31, 2012 at 5:03am
Are there any instructions on installing this on the mtk gps?

http://www.sparkfun.com/products/10317

Or can I just follow the instructions for adding a battery?

http://code.google.com/p/ardupirates/wiki/MTK_GPS_backup_battery?ts...
Permalink Reply by Mike Mac on May 31, 2012 at 6:05am

Those instructions won’t work on the APM2 board. Are there any instructions for installing a backup GPS battery on the APM2 board or is it not possible. They should have installed a battery backup plug or just built in a battery mount when they designed the APM2. That’s the main thing I don’t like about the APM2.

 

 

 

?????

 

Permalink Reply by stubugs on May 31, 2012 at 6:08am
Why dont u just plug micro usb lead from ur laptop while not flying or changing battety thats what i do
stu

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