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 Norman Sanchez on -
A tip for those with mission planner and downloaded the gamma V.2.6. mission planner has two icons 1 for version 0.9 and another mav version 1.0. go to the folder where you run the program and select the type that uses mav.
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Permalink Reply by Mike Mac on -
I must have missed but could some one list the difference between Mav 0.9 and Mav 1.0 and how I upgrade?
.
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ModeratorPermalink Reply by Dean Wynton on -
Not sure of the difference? the developers will know more.. But there is no need to upgrade I think Norman Sanchez above recommends if you are using 2.6? which should be released soon. And even then you dont have to? I think the main difference of Mavlink will be for users of wireless telemetry?
If you wish to upgrade now you must adjust the code in Arduino IDE to enable Mavlink 1.0. You will find it in arducopter.pde/ino APMconfig.h
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Permalink Reply by Norman Sanchez on
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is correct, in the folder in the mission planner are two icons. example; if you select the v2.5.5 the option mav 1.0 must select the icon Planner 1.0.
only to take mission planner has two types of protocol.
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Permalink Reply by Norman Sanchez on
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more information about this protocol
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Permalink Reply by Norman Sanchez on
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mavlink v1.0.0 is faster as any previous release and consumes substantially less CPU power. also including many bugfixes and new functions.
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Permalink Reply by Machinery Max on -
Thank you all very much)
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Permalink Reply by Heino R. Pull on -
Flew 2.6 Gamma last night on a JDrones standard frame, with standard 10" props and motors with an APM 1. I also have the longer landing gear and a 3300 mah battery.
I was testing with MP 1.0 and Ardustation 2.0.15 (Mavlink 1.0) and all
looks good. I was mainly testing Ardustation Mavlink 1.0 parameter
update and antenna tracking (which is working well) and also tested
stabilize, alt hold and loiter. The stabilize feels great, alt hold on
sonar and at baro altitudes works great. Loiter on the default
parameters was not good at all and will require tuning for my frame.I'll do some tuning tonight to see if I can get a better loiter on my frame.
Heino
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Permalink Reply by Chapelat Daniel on -
hello all
I tested this morning 2.6 gama
avionic: APM-1.0 with Sonar & baro
- Framework: dj 450 X config
- Engine: 880 kv
- Helices: 10 * 4.5
- 3s 11.1v batteries Lipo 4500 mha
- PID: original
All seems OK: - stabilize very well, fits in 1m2
- Hold Alt with sonar is great too, fits in 2m3
- Hold Alt with baro is also great
- Does not seem to loiter in derrive
2 flights of 15 minutes to test, storms I have not yet possible to test RTL and navigation AUTO
Congratulations to the team for the improvements quickly release the code!
Regards Daniel
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Permalink Reply by Rana on -
"Hold Alt with sonar is great too, fits in 2m3" does not seems to be a good altitude hold using Sonar, either there is issue with the way you configured and tested it or bug in the code.
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Permalink Reply by Chapelat Daniel on
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Hi
I will reconfigure this morning (adding a ferrite on the wire sonar), hoping that the weather (it rains) allows me to fly, I try to keep you updated
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