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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DeveloperPermalink Reply by Marco Robustini on -
Simple mode with ArduCopter:
in this video i play a lot with "Simple Mode" for testing yaw/compass precision... :-)
I never use the SuperSimple mode, i don't like it, and if something is wrong with the gps can go wrong during hard maneuvers.
Bests, Marco
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Permalink Reply by Bradley J Carr on -
is all this flying in simple mode? this is just nuts
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DeveloperPermalink Reply by Marco Robustini on -
No, only when i rotate the quad during flight (from 1:20 to the end).
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Permalink Reply by Jo Peer on -
Hi Marco
It's a personal preference, some people may like it, some people may not.
That's also why other multicopter platforms offer their users the choice between the two simple modes: normal or super simple.
I do see a positive side to super simple mode: it can recover a multicopter in situations where normal simple mode wouldn't.
And there will always be the question what would happen in case of gps failure or inaccuracy.
But that could also be extended to what if my gyro's, accelerators, APM, ......... fail...
I'm relying on the AC platform. And I can live with inaccuracy, really I can.
But when modes (like super simple mode) can't be offered and AC2 can't even achieve something like this, I think I'll have to give up on it.
I've been patient for a very long time. My patience is running out unfortunately.
I'm already considering buying a Wookong or Naza+GPS.
Arducopter is more flexible (settings, wide range of possiblities), but it does have to offer the basic fully functional modes for multicopter owners: stabilize, loiter, rth failsafe and super simple mode.
But it is still not offering that at the moment...
Well anyway, that's my opinion.
I hope a solution will be offered.
Grtz, Jo
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Permalink Reply by Luke on -
Maybe I'm confused on what you actually want. You keep replying as if the APM2 doesn't offer both modes described in your original image (and that other FCs do). It does.
Looking at the WKM documentation:
Slide X2 channel switch to Home Lock position to fly in home lock when all the following requirements are met:
a) Home point is recorded successfully;
b) 6 or more GPS satellites are found;
c) In GPS Atti. Mode;
d) Multi-rotor is further than 10m away from home point.There is no difference between current APM2 behavior and WKM.
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DeveloperPermalink Reply by Marco Robustini on -
@Jo: ArduCopter now can offer all the full functional modes for multicopter owners: loiter, rth, autoapproach (not avaiable in other platform) failsafe and super simple mode.
All this mode are tested by me and all the AC Tester Team without a single issue, all the new videos on my youtube channel prove it.
I agree, there are some things to improve but we are working and we are on track.
I use MK and WKM as commercial platforms and are very satisfied, but ArduCopter now they are reaching, and surpassing in some things.
It's not a race, but we must consider that "we agreed to match" not long ago, and as a "new team" we are making great strides.
With any "modular" platform like AC is not easy to get the perfect setup and configuration, but once you reach a good compromise can achieve excellent results, the real difficulty is that.
With MK you can buy a complete kit and you're sure it will work well, because it has already been tested tens of thousands of times due is a commercial and expensive platform.
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Permalink Reply by Jo Peer on
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Okay, I'll be patient some more and keep trying to achieve what I want out of the copter.
Can't the 20m circle for super simple mode be narrowed down to something like 10m away?
How do you actually know when the copter is in that circle and whether it is using normal simple mode or super simple mode? By seeing the reaction of stick input?
Also, about tuning.
If I've read the wiki well, there are 4 main parameters to tune: Rate_P (most important), Stabilize_P, then Rate_I, then Stabilize_I.
The first two are clear to me. But why do I need to tune Rate_I and Stabilize_I for?
The problem is you sometimes find different explanations about PID's and sometimes you just don't know what they are for.
How should they be tuned if you want soft response, eg. for an AP multicopter. Smooth reactions but not too sluggish.
I hope I can get my hexa to fly like I want it too soon.
Thanks for your help in advance.
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Permalink Reply by Marc Puig Pasarrius on -
This helped me to understand PID tuning:
This is for OpenPilot but as far as I am concerned this applies to APM too.
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Permalink Reply by Norman Sanchez on -
Marco Hello,
Sorry to disturb you, I wonder if the top bottom ratio as option coming back because i like the performance of the quad with this parameter. Other how I can change the angle of inclination up front left back right? when I stick to maximum up front I would like to bend 5% think it would reduce the speed of forward motion, reverse, roll. Is available.
Thank you.
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Permalink Reply by Matt Gaige on -
@Marco: During that section are you flying in Acro with Simple??
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DeveloperPermalink Reply by R_Lefebvre on -
So what's the conclusion Marco? Are your yaw problems gone?
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ModeratorPermalink Reply by Dean Wynton on -
O.k Marco here is Loiter Mediatek style with wooden frame and cable tie Tricopter :)
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