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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Permalink Reply by Marc Puig Pasarrius on -
You could use ArduIMU as a gimbal stabilizer: http://www.diydrones.com/profiles/blogs/bounty-offered-a-arduimu-v3...
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Permalink Reply by Lino Silva on -
Tks !
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Permalink Reply by Guillaume Bourque on
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Hi,
any luck I could change the code to use output channel 2-7 on my APM2 for my 3DR hexa ? I managed to fried output # 1 and would love to use other output channel if possible, see my post here http://www.diydrones.com/forum/topics/apm2-oupput-1-is-fried-may-i-...
Thanks
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DeveloperPermalink Reply by Marco Robustini on -
ArduCopter V2.6 Gamma in the download area (pre-release version for testers only!):
ArduCopter 2.6 Gamma into the download area.
It's not extensively tested so please use with caution.
Improvements over 2.5.5 include:
- MavLink 1.0 support (use with ArdupilotMegaPlanner10.exe) [Tridge, Craig]
- dataflash erase speed up ('+' messages removed but it only takes 6 seconds now) [Tridge]
- Copter LEDs [Robert Lefebvre]
- RTL loiter stage target set to home to improve final landing position [Jason]
- flip & acro improvements [Jason]
- circle mode target improvement for ground station [Jason]
Bug fixes include:
- enable mavlink messages during dataflash erase which resolves issue in which new APMs fresh from the factory appeared unresponsive [Tridge]
- proper printing of lat/lon values in dataflash logs [Randy] - removed duplicate GPS reads [Jason]
- resolve flooding of telemetry link with low-battery warnings [Tridge]
- RTL bug would land if rtl_approach_alt was more than 1 [Jason]
- WP Radius could not be set larger than 1.3m [Jason/Randy]
REMEMBER: i tried all the features in a dozen flights, Stabilize/Loiter/RTL/AutoApproach/Autolanding and also ACRO and was very pleased but is gamma, use at your own risk!
When the Beta Tester Team will decide which is really stable Randy will make it available on the planner.
Cheers, Marco
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DeveloperPermalink Reply by Marco Robustini on -
Loiter has been improved, but we are considering further changes.
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Permalink Reply by Machinery Max on -
A quick question, sorry. How exactly is APM2 software update performed? When 2.5 was released, MP was updated at start. Does then APM get an update automatically when connected?
I felt myself stupid being unable to find any "update" button in MP or even to see what version software is running now.
Lurked wiki, yeah...
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Permalink Reply by Eric Tweet on
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Yes the firmware version shows up automatically under the "Firmware" tab when it is detected. Try opening mission planner with no internet connection and clicking on the Firmware tab - it will fail to get the firmware list.
Version 2.6 is, of course, not available as an official release in MP yet, so we still have 2.5.5 showing up.
As for updating what is on your board, you must initiate the process by clicking your desired airframe under the Firmware tab when the board is connected.
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Permalink Reply by Mike Mac on
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What’s the easiest way to see what firmware version that I currently have on my board?
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ModeratorPermalink Reply by Dean Wynton on -
Go to mission planner then Terminal with your USB connected and wait for it to print some data, with the latest version of mission planner it will say something like Arducopter 2.5.5?
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Permalink Reply by Eric Tweet on
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Plug in your board, and click on the "Terminal" tab (if it doesn't automatically connect, click the connect button). One of the first things printed after it connects ought to be the version you're running.
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