Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
+1 Chris, this is exactly the behaviour seen if I try to load 2.6 with arduino, without first uncommenting the config_apm2 line in the config file. This is due to the code defaulting to APM1.
I could have sworn I did, but then again, if it didn't work, I'm sure I missed something. I will give it another shot! Thanks Chris!
I forgot to save APM_Config. Reloaded with Delta and it's flying!
I'm using APM1 and loaded 2.6 Delta via Arduino relaxpatch 0.22 without any problem
APM 1.4, v2.6 delta loaded with arduino 0100-relax, win xp, successful test room, mission planner mav 1.0, pid default. 0cta quad, motor 850kv x8, 10x4.5 x8, 1650kg, better stability, smoother throttle, morning field test, I note that the most accurate sonar lv EZ4
I tested this morning 2.6 Delta
Avionics: APM-1.0 with Sonar & baro - Setting: dj 450 X config - Engine: 880 kv - Propellers: 10 * 4.5 - 11.1v 3s Lipo 4500 mha batteries - PID: original
Everything seems OK: - stabilize very well, fits in 50 cm2 (though a bit windy! Bravo)
- Alt with the sonar is perfect
- Hold down the Alt key is also perfect with baro
- Does not seem to wander derrive I did not see problems of yaw, can be slightly less reactive - LEDs work ok, arming engine is actually longer (6 seconds) but it's not annoying.
A flight of 15 minutes to test, this afternoon, I hope (weather) continue testing
As soon as you have some wind, you have to expect such behavior.
Have a google look at "Swimming dog curve".
APM navigation logic doesn't integrate cross wind (drift angle), and your Aeroquad fly towards its destination point drifting in the wind. so you reach it with an angle but you reach it as planned. In order to stay on the line between two waypoints, you have to calculate and integrate the drift angle to your navigation equation. Not easy...
I flew 3 flights yesterday testing Loiter on Gamma with Jason's improvements (now in Delta). 3DR testing suggested the following values (for a standard 3dr frame):
Angular Rate Control:
I had some pendulum behavior on my Jdrones standard frame (850kv, 10" - large landing gear) and Jason suggested (from his sim) that D=0,
so I flew:
Angular Rate Control:
and this worked fairly well on my frame. Winds were light but I was seeing a 5m box that the quad loitered in. These values are much better on my frame than the defaults.
The mission planner says 0.14 or lower for Rate P and you are running 2.4. Did they rescale that parameter or am I just running that value way too low?
i assume those are loiter PIDs mike.
You are probably correct I have my Loiter P set to 2.0 and it works very well.
I set Ch6 to do Rate_P tuning this morning and found the sweet spot in the 0.18 to 0.20 range – it was 0.12 before. After that the navigation problem was solved and Loiter was improved. Apparently getting the Rate_P tuned to the max has an effect on everything. When I try 2.6 that’s the first thing I am going to tune.