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!
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.
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!
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 ;)
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
Thanks Jeff, I got it worked out with James's video.
ArduCopter V2.6ß - Long Loiter with APM2 and 3DR U-Blox GPS unit prototype:
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 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?
Hi Grips, the real difference is the gps unit, does not have the problems that plague the MTK.
Here my Loiter parameters:
cool thanks for sharing. I guess the APM2's new baro makes a big difference as well.
Yeah, but only with optimal Throttle P tune during flight.