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: 115201

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Replies to This Discussion

Permalink Reply by Dave C on June 9, 2012 at 4:30am

+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.

Permalink Reply by Jeff Milay on June 8, 2012 at 8:33pm

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!

Permalink Reply by Jeff Milay on June 8, 2012 at 10:05pm

I forgot to save APM_Config.  Reloaded with Delta and it's flying! 

Permalink Reply by Rui Manuel Cravo Marques on June 8, 2012 at 7:50pm

I'm using APM1 and loaded 2.6 Delta via Arduino relaxpatch 0.22  without any problem

Permalink Reply by Norman Sanchez on June 8, 2012 at 9:11pm

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

Permalink Reply by Daniel Chapelat on June 9, 2012 at 3:13am

hello Randy

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

Daniel

Permalink Reply by Mike Mac on June 8, 2012 at 6:44am
I need NAV tuning advice.

I just put my AMP2 on a new large quad and it does not fly a straight line between waypoints. I have done a couple of log compass cals from missions and the results are fairly consistent so I don’t think that’s the problem. Loiter is good.

It keeps the noise pointed at the next waypoint but it goes off to the side and hits the waypoint at an angle. I would like some tuning advice please.
Permalink Reply by Marc LE BRET on June 8, 2012 at 9:45pm

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...

Marc

 

Permalink Reply by Heino R. Pull on June 8, 2012 at 8:01am

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:
 P=2.4
 I=0.08
 D=0.4
 
 Loiter Speed
 P=0.2

 

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:
 P=2.4
 I=0.08
 D=0
 
 Loiter Speed
 P=0.16

 

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.

 

Heino

Permalink Reply by Mike Mac on June 9, 2012 at 3:09am

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?

　

Permalink Reply by James on June 9, 2012 at 6:54am

i assume those are loiter PIDs mike.

Permalink Reply by Mike Mac on June 9, 2012 at 8:14am

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.

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