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: 116058

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Replies to This Discussion

Permalink Reply by Thurmond Moore on May 29, 2012 at 2:42pm

Thanks James, My switches are not labeled like yours. Do you have a native mode 1 radio? My 3 position switch is on the right and is switch G but I got it figured out due to your video.  I now have 6 modes. My ch5 endpoints were 42 up and 60 down, My P-Mix offset 5 was -42%. Thanks a million.

Permalink Reply by Jeff Milay on May 29, 2012 at 6:58am

Thurmond, looks like everyone beat me to it.  Did you get it worked out based on their replies?  I just used the link that James had mentioned in his reply.  If needed, I can make a video or send pics of my setup but looks like James' post will help!

Permalink Reply by Dave C on May 29, 2012 at 9:45am

James's post is spot on, i had struggled with the 6 modes, James's video showed me how to do it in real time.

Thanks again James ;)


ModeratorPermalink Reply by Dean Wynton on May 29, 2012 at 10:04am

Just had a look and it does make things clear, not the way I done it though, I have it programmed different but the results are the same. In fact I think James`s way is better in terms of simplicity

Permalink Reply by Thurmond Moore on May 29, 2012 at 2:43pm

Thanks Jeff, I got it worked out with James's video.

Permalink Reply by Paul Emous on May 28, 2012 at 12:56pm

Awesome.


DeveloperPermalink Reply by Marco Robustini on May 28, 2012 at 3:44pm

ArduCopter V2.6ß - Long Loiter with APM2 and 3DR U-Blox GPS unit prototype:

Hi guyz!
I see many videos a little shaky, sure of having hit the right parameters/hardware? :P
Here my "daily" video with long Loiter test, good watching!

Marco

Permalink Reply by Grips on May 28, 2012 at 4:18pm

Marco that loiter test looks great, even compensating for the wind. I have to guess though, is the P values a bit lower so that it does not over compensate/overshoot so easily? How much of a difference would you say the 3dr ublox is?


DeveloperPermalink Reply by Marco Robustini on May 28, 2012 at 4:24pm

Hi Grips, the real difference is the gps unit, does not have the problems that plague the MTK.
Here my Loiter parameters:

HLD_LAT_I,0
HLD_LAT_IMAX,3000
HLD_LAT_P,0.35
HLD_LON_I,0
HLD_LON_IMAX,3000
HLD_LON_P,0.35
LOITER_LAT_D,1.50
LOITER_LAT_I,0.1
LOITER_LAT_IMAX,3000
LOITER_LAT_P,1.55
LOITER_LON_D,1.50
LOITER_LON_I,0.1
LOITER_LON_IMAX,3000
LOITER_LON_P,1.55

Permalink Reply by Grips on May 28, 2012 at 4:25pm

cool thanks for sharing. I guess the APM2's new baro makes a big difference as well.


DeveloperPermalink Reply by Marco Robustini on May 28, 2012 at 4:26pm

Yeah, but only with optimal Throttle P tune during flight.

Permalink Reply by Greg on May 29, 2012 at 6:53am
So this is good news, but bad news for me becuase I just ordered an apm 2 with external MTK and there are all these problems you mention with this GPS unit. Would have been nice to know this in advance or have the product removed from the store until the 3DR ublox is available. At least the loiter looks like it works now. Good to see.

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