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: 115187

▶ Reply to This

Replies to This Discussion

Permalink Reply by James Friend on June 7, 2012 at 5:02am

Theo it's a long shot, but perhaps try doing individual throttle calibration on each ESC? Or perhaps one motor is faulty and not running at the same RPM as the others?

James


ModeratorPermalink Reply by Dean Wynton on June 7, 2012 at 5:44am

Is there a video of this occuring? It would be musch easier to work out if there was?

Perhaps starting with a close up of the components and the props, then of the machine being armed and throttled up until the spinning starts?

Permalink Reply by theo van niekerk on June 11, 2012 at 3:48am

Hi Guys....yip prop pitch was all the same ...escs individualy calibrtated.......even when as far as to check the props individualy using an optical tacho all where withing about 20 rpm of each other......same setup flies 100% with wookong m........waiting for 2.6 to be pushed to planner will try on quad and might just chuck it back on the octo...will keep you posted...

Permalink Reply by Rui Manuel Cravo Marques on June 11, 2012 at 5:00am

That's very weird Theo. Are you using an APM1 or 2 ? If it's an APM1, try to re solder the magnetometer board because a small ammount of vibration may be inducing bad contact in the I2C bus wich agravates in time. I can't remember anything else.

Permalink Reply by theo van niekerk on June 7, 2012 at 9:32pm

Hey Guys Thank you for your help, considered all and the substantial investment in frame motors etc etc etc.......i bit the bullet and stuck a wookong M on her.....and im happy to report solid as a rock......apm1 i do believe and agree with Duran that in the not to distant future will outperform...most if not all the Propriety FC out their........when that happen i know that i can get rid of the Wookong and atleast get my money back (Got a good deal.......will be flying apm on my quad.......lot cheaper replacing a $20 frame should it all come tumbling down....for what ever reason....

that said, i am super impressed with what the devs have done and love flying the apm on my quad.........

ill post some pics and video of the "mistress" soon..

Permalink Reply by Guido on June 4, 2012 at 1:29am

Hi,

i'm using fw 2.5.5 and my quad fly very well. Only one question... there is a way to set a min altitude? (i'm using sonar). Because i fly in fpv, many time i go too much down and in fpv is hard to see the altitude, so if i set a min alt like 1,5 meter i can fly without difficulty.

Thanks

Permalink Reply by Chris Huitema on June 4, 2012 at 1:49am

you could set up a geo fence - turn it on after takeoff and turn it off to land.

http://diydrones.com/profiles/blogs/geo-fencing-for-arducopter-keep...

Permalink Reply by stubugs on June 4, 2012 at 3:13am

hi has any one got the apm2 board working with minim osd and xbee 900 i can get them to work seperatly but onlt xbee works when plugged in together to get osd to work on its own i have to reverse tx and rx but not with xbee ????

many thanks stuart

Permalink Reply by Guido on June 4, 2012 at 10:06am

Thanks Chris,

could you say me if i can enable geofence function from mission planner? or i must enable it in the code?


DeveloperPermalink Reply by Andreas M. Antonopoulos on June 4, 2012 at 10:24am

Geofencing for ArduCopter (and more generally for all vehicles) is currently in testing for a planned release in the next month or so.

I will be creating documentation in the wiki, which will show you how to set up and use fencing. 

Stand by, it is almost ready!

Permalink Reply by Guido on June 4, 2012 at 1:04pm

GREAT :) 

thanks so much !

Permalink Reply by Gerrit Jan Baarda on June 4, 2012 at 1:55pm

Hi, I'm now fairly sure the cause of the strange flip I reported here is a software problem that was introduced between 2.5.3 and 2.5.5.

I flew my quad today while downgraded to 2.5.3, with the same (PID) parameters as 2.5.5 and the flip/roll was gone. After I upgraded to 2.5.5 (from the mission planner, again with the same parameters as in 2.5.3) the flip effect is back again.

I never flew 2.5.4 so I don't know if it is in that software too.

Should I report this as a bug?

Gerrit Jan.

RSS

Social Networking

Top Content 

1 Mapping Mission Ride Along

Mapping Mission Ride Along
2 APM 2.5 from hobbyking

APM 2.5 from hobbyking
3 Alt_hold and loiter acting crazy

Alt_hold and loiter acting crazy
4 Looking for best laptop screen to see in the sun

Looking for best laptop screen to see in the sun
5 ArduPlane 2.73 released

ArduPlane 2.73 released
6 APM Copter 2.9.1.b has been released

APM Copter 2.9.1.b has been released
7 New micro-cameras emulate insects' compound eyes

New micro-cameras emulate insects' compound eyes
8 Mechanical Hands From A MakerBot: The Magic Of Robohand (From Makerbot blog news)

Mechanical Hands From A MakerBot: The Magic Of Robohand (From Makerbot blog news)
9 3 axis Camera Gimble connections.

3 axis Camera Gimble connections.
10 Thirty Days (#17): 12-rotor close up

Thirty Days (#17): 12-rotor close up

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

Advertisement

© 2013   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service