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
-
DeveloperPermalink Reply by Marco Robustini on -
Q: with ArduCopter 2.6 can i really fly in Acro mode?
R: yes, now you can... :-)
Bests, Marco
-
ModeratorPermalink Reply by Dean Wynton on -
I haven`t flown using 2.6 delta yet? but intend to do so today and test all modes, including Acro, which in the past I have felt it to be too unresponsive to fly with, well in comparison to KK anyhow?
I have noticed an issue when using the mav 1.0 my dataflash card is not saving any log files? so I have gone back to using 0.9..
-
Permalink Reply by Rui Manuel Cravo Marques on -
Ok. First flight with 2.6 Delta in my hexa. First impressions very positive at least regarding alt hold (with baro only) and stabilize. Now I can fly my hexa in my kitchen also lol ! Loiter continues to be the big issue. Any news on those high D values that seemed to work ? In Mission Planner -> configuration -> standard parameters , there are 2 Alt Hold RTL with same description. This should be corrected, If I'm correct the first is the Alt at wich the copter goes when entering RTL, before start heading home, and the second, is the Alt at wich the copter should descend and remain in loiter after home is reached and 20 seconds have passed in loiter. To me, that value didn't worked, don't know if it's active or not (I do not have auto land enabled, don't know if it must be, but the copter didn't descend). Yaw is a bit less responsive but I didn't notice any drift except when making sudden forward accelarations or fast descends, but it compensates after. Really liked to fly it and it's getting pretty reliable. I will try to improve tunning on loiter. Another thing. In 2.5.4 I tryied a uBlox GPS and the same PID params gave me very violent reactions. Anyone with this ? Gone back to MTK.
Specs : APM1+Oilpan, baro only, mtk gps, Xaircraft hexa pro frame, 10x4.7 apc sf props, 6000 nanotech 3s battery and about 300grs extra payload from camera and gimball. Motors sunnysky x2212 980kv.
-
ModeratorPermalink Reply by Dean Wynton on -
O.K very windy here at the moment, but have been testing 2.6
I can finally fly using Acro.. Well I could before but it was too slow to respond so could quite easy start to behave like a pendulum. I cant get loiter working as good as I had it before? at least not yet? Auto mode is much improved until it reaches home and loiter kicks in, I do find the yaw is very unresponsive. I will be testing more later when the wind dies down....
@ Rui I have noticed the two boxes also, One is alt hold rtl and the other auto approach. If you put a -1 in the parameters list in alt hold rtl you will be left with only one box. Not a fix but if it irritates you? I have informed Michael Oborne of this issue a week or two ago?
APM2.0 with daughterboard 10x4.7 emaxx props DT700 motors 3000mah 4S lipo AUW about 2kg maybe a little more
-
ModeratorPermalink Reply by Dean Wynton on -
Is anybody else having issues with the dataflash logs, using 2.6?
-
Permalink Reply by Rui Manuel Cravo Marques on
-
It does not irritate me it's just that it can be misleading or confuse since both say the same and have the same description :)
-
Permalink Reply by Duran - SteadiDrone on -
a quick report after loading 2.6 on my apm2 quad.
having flown ardu now for around a year im pretty imilair with the feel of it in the air ob both our big octos we build and quads. the biggest advances for us havebeen the stability patch that came in around .55 ithink it was, and now this new stability tweak, which i must report is SOLID. great work Jason!! its now far better in terms of drift when hovering and does not need as much focus to keep in one spot, looking more like dji/mk. i cant wait to stick 2.6 on my octo. any ideas about new gps module coming? im not bothering with gps/nav till it comes out, after seeing marcos video..
-
Permalink Reply by Ian forbes on -
I finally had success working all the bug out of my Y6 today, butrned through 3 batteries no problems, just a small bit of wobble, but I had a loose connection on my channel 6 so my tuning was no use in the field... I started messing with channels in MP and in remote. I found the loose channel 6 connection, but somehow I messed up the PIDs beyond repair in the process..
I messed up my PIDs somehow, I accidently placed ch 6 on the wrong tuning set, and I cant get back to stock setting. I reloaded firmware but now it won't eveb bench test. What is easiest way to get back to default PIDS... Can someone point me to a default param or post afile for y6? please?
-
Permalink Reply by Rui Manuel Cravo Marques on
-
Well, I think if go into terminal mode and do an erase, it will restore the original settings.
-
ModeratorPermalink Reply by Dean Wynton on -
O.K a bit of a long post.. But I managed to get out and do some filming today of 2.6 Delta, as I said before the Loiter I cant seem to get it as good as with 2.5.5 but the auto mode and rtl I have seen improvement and also in stability. I have also flown with Acro and am pleased with that also... I have adjusted alot of the PID`s to get to this stage, and am sure I wont get it any better? Still the yaw is not very responsive even after adjusting the PID`s for it, but I can live with it, as I dont do alot of hard flying most of the time?
Right so first up will be the Loiter and Auto with 2.6 and then after with 2.5.5
-
Permalink Reply by Glenn M on
-
Can you please share your PIDs Dean? I'm running a similar setup to you. I have just reverted to 2.5.5
-
ModeratorPermalink Reply by Dean Wynton on -
For 2.5.5 or 2.6?
And just for the loiter and nav? or everything?
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
Moderators
24 members
-
Documentation Editors
51 members
-
Agricultural UAVs
133 members
-
ArduCopter User Group
1298 members
-
Telemetry over cellular …
249 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
