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: 116055

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Replies to This Discussion

Permalink Reply by stubugs on June 4, 2012 at 2:56pm

I've crashed twice due to coming out of loiter twice smashing two frames posted the log bit no one in the forum managed to look at them

james also had a severe flip and crash comming out of loiter with 2.5.5 must be a bug
Stu

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 5:41am

Hey again all, just finished another big SteadiDrone octo build for a client, first time with APM2, all our other builds have been APM1. A few details, 1m+ Skyjib sized full carbon fibre SteadiDrone (we make them) octo airframe with quick release one screw pop out motor arms, 3D printed super durable and light motor mounts, carbon fibre flight control plate, dome (not fitted in this vid) 12" APC props, Photohigher AV200Pro mount with their retractable landing gear (working on our own gimbal currently)

The whole kit comes ready to fly with everything needed, dual radio setup, video link, 3axis stabilized gimbal, pelican carry case, lipos, chargers etc etc.

Below a quick clip of one of it's first test flights.

Running 2.5.5 and it seems stable, looking forward to 2.6 and that new GPS unit!! (any eta?)

Thanks again to all the hard working delevopers here! Any questions on bigger octos with APM pop me a message :)

Thanks

Duran

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 5:46am

excuse the lipo alarm going off, aslo a strong breeze coming through the courtyard..

Permalink Reply by Rui Manuel Cravo Marques on June 5, 2012 at 6:52am

wow great piece of work :D loved that rectractable landing gear, wish you great flights with it.

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 8:08am

thanks! here some pics we just did in our studio.

SteadiDrone.com coming soon!! :)

Permalink Reply by Perecastor on June 5, 2012 at 7:45am

i love your rectractable landing gear ^^

Permalink Reply by Lino Silva on June 5, 2012 at 10:00am

Hi, Great work

How do you attach motor supports to the booms ? glue? resin?

Boom diameter ?

ls

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 10:27am

Hy Lino, we've designed the motor mount to fit very snug into the 20mm carbon tube, it usually goes in super tight and does not even need glue, but we add a little bit to just secure it in, it does not move.

Permalink Reply by Jonathan M on June 5, 2012 at 12:08pm

Duran,


Do you use the APM2 for gimbal control or do you have a seperate gimbal controller?  I am doing a moderately expensive AP/AV build right now and am thinking of trying my APM 2 prior to anything else.  You are probably one of the only people I have seen that uses APM for serious AP/AV work. You observations would be fantastic.


Thanks

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 12:20pm

Hey Jonathan. I use APM2 as the main flight controller and then also a seperate APM2 for camera gimbal stab yes. We make a little case that the apm sits in and that is directly fixed to the camera mount. As we use 360 mount for most our build we need a separate apm because when you turn the camera 180' around and if you use the flight control apm to also stab camera gimbal the stab is all inverted.

I'm pretty addement to stick to APM for our big octo builds, not becasue of the prize, but I think it's going to soon out performe the other systems available and really trying to support the open source ideal. Thus far we've had excellent results with apm, it's all about building a neat and reliable base around the apm, solid soldering, neat wiring, thought out placement of esc etc etc. With our first octo we built, APM1 it did close to 3000 flights, no issues.

Permalink Reply by Jonathan M on June 5, 2012 at 1:20pm

Thanks for the reply!

Did you develop/modify code to use as a seperate gimbal controller?  I did not realize people were using the APM2 as a standalone gimbal controller.  2-axis stabilization or 3 axis like some of the newer gimbal controllers hitting the market?  Do you find that the camera stabilization code currently used is adequate?

Very good to hear your positive results.  How do tune your setups?  Do you generally use attitude control (acro) or auto level (stabilized).  The more I research the "pros" like yourself, the more I see that attitude or gyro only control is preferred.  Personally, I have never gotten my quad to fly well in attitude mode.  Could be my setup though.

Sorry for the million questions!

Permalink Reply by Duran - SteadiDrone on June 5, 2012 at 11:25pm

no midifications at all, currently 2 axis atablization. I was also looking at the V3 imu that MArc mentions below.

I fly 100% in stabilize mode, no way you can get smooth video off acro, unless you are insanely good lol. I really don't do much tuning, find that the default settings in the firmware work very very well.

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