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 Glenn M on -
Both, everything thanks.
I had 2.5.4 running ok, but my yaw went downhill badly after trying 2.6 delta. Not sure if it's my setup, but I'm keen to get one of them working nicely today!
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ModeratorPermalink Reply by Dean Wynton on -
O.K
But remember to use with caution? everything should be fine, but you never know?
I have just put in the stuff you need and not compass dec settings or rc trim settings
Have fun..
NOTE: Using the 2.6d Parameters you may want to change the rate I and D settingd to 0.0? if there are any problems using them at 0.001 and 0.004? They work for me though..
- Attachments:
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2.5.5.Param, 2 KB -
2.6d.Param, 2 KB
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Permalink Reply by Ian forbes on
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thanks, I don't know what I changed but my tri6 is super twitchy now and leans backwards during hand test. I will try these now!
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ModeratorPermalink Reply by Dean Wynton on -
Ian these are for a Tri3, but they should give you a good base to start from?
Let us know how they work for you?
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Permalink Reply by Ian forbes on
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Can I get a copy file as aved by/ from and loadable through MP? I went through and manually changed all the aettings.
1) some of the I max parameters ar fro ex 30, but your list is 4000. In MP what measure do I use, seems a question of scale/decimal placement?
I hate using arduino, I try everything via MP as this is easiest from a user standpoint.
Everthing flew great this morning, no changes till I discovered the wrong Ch 6 setting (I think I clicked to look at drop down and mouse wheel scrolled to another variable input), now she feels like she is rolling backwards during hand testing. I have reloaded firmware via MP now twice. I have now tried to load your
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ModeratorPermalink Reply by Dean Wynton on -
Ian post your parameter file to me and I will change it for you and send it back to you ready to load
You can do it with a comment on my page..
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Permalink Reply by Glenn M on
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Have just tried 2.5.5 with your settings and it flies nicely. Didn't get a chance to test loiter or nav yet since it was just dropping when I flighted into alt hold, will just need a few more flights to get the trim_throttle value correct.
As an aside, I just put a 4x4cm square of blank pcb connected to ground underneath my mtk gps which is sitting right on the top plate of the tri above the APM, and now I get a 9+ sat gps fix in about 30 seconds vs waiting 5+ minutes for it to maybe get a lock or not before. I'm pretty sure this will vastly improve my loiter performance.
Will try 2.6 delta now with your pids and a bit of negative expo on yaw with my tx.
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Permalink Reply by Glenn M on
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So with 2.6 delta using your pids and -30% expo (I think I have the expo set correctly on my tx - it shows a range of -30 to 100), my yaw performance is still terrible. I need to pretty much make full stick deflections to get it to turn even somewhat quickly, and the yaw movement itself seems to make jumpy movements rather than being smooth. By the feel of it, it's like there's too much yaw D, which is causing it to fight the yaw movement and bounce back throughout the turn, but I have no rate yaw D set. I'm still getting a noticeable amount of yaw wobbling in a straight line too.
Video here so you can see what I mean:
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ModeratorPermalink Reply by Dean Wynton on -
Try reducing yaw p it looks like it may be too high? works o.k for me though..
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Permalink Reply by Glenn M on
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Right, so I played around with my yaw rate P and reducing it helped a little, but then I had my first out of control flip over crash while flying. I had to put in increasing amounts of roll to keep it level, but then it just flipped and crashed.
My logs aren't working either so can't even see what was going on... I'm going back to 2.5.5
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Permalink Reply by Duran - SteadiDrone on -
i dont think there is an actual problem with yaw, its just less sensitive, just dial in some neg expos, ive got 50 and is perfect. nice an smooth and goes where i tell it, seems like the bounceback has also improved.
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ModeratorPermalink Reply by Dean Wynton on -
Hey you just reminded me, I had some expo set up on my radio from my KK flying days :)
I have taken it off now, so should have solved the problem with the yaw? Will see tomorrow..
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