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 Marc Puig Pasarrius on -
You have a lot of compass noise and it gives inconsistent values (compared to gyro yaw). Try to recalibrate the compass in the Mission Planner (It helped me to get better compass values).
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DeveloperPermalink Reply by R_Lefebvre on -
Yes, everybody with serious yaw issues should try flying with the compass turned off. Eliminate the mag as a source of the error. That was what happened to me. I turned it off, but the yaw problems remained, so I tracked it down to mechanical/code for Trad-heli which is what led to my yaw fix.
But if your yaw problems go away, then you know you have a mag problem.
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Permalink Reply by John Hanson on -
I have gone through several batteries on 2.6 Epsilon (quad 10x4.7 apm2 880kv)- so far-
Altitude hold now fixed, can add or remove weight and it holds well. I did increase AH P to .9, rest all default.
Have not seen simple mode problem that was in last version
Loiter was best I have seen lately, maybe 2m drift at worst (low wind)
Yaw seems OK, did not twist on takeoff
The latest stable mode is remarkable. I have not bothered with autotrim, balancing blades, or any of that nonsense and it will hover motionlessly in no wind- even better, it has the best sound I have heard. How they sound in low wind is a big clue to how well it is working.
I did try 12x3.8 blades and the default pids left me with a little oscillation. I tried lowering a bit and it got better, but the 10x4.7 with pids at .18/0/.04 is still the best.
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Permalink Reply by Dave C on -
My anecdotal experiences of 2.6eps...
APM2, stuck to tupperware with sellotape foam, tupperware bolted to frame (i.e. total disregard for antivibration - at half throttle the gps unit could give you a massage if correctly placed! I'm doing this on purpose - I call it NDT, i do balance my props and motors, it's nothing but madness not to ;).) If I can get it to work well like this, then an isolated APM and perfectly balanced, high spec frame is going to reign supreme
Anyway...
Light, and quite bent, (jakub) tri frame 60cm m-m.
Turnigy c2830 1050kv motors, one of which grinds a bit.
Turnigy 40a, esc's (heavy but i had them lying around) stock firmware
10*4.5 props
3s 2.2's or 2.65's (must try some 4s....)
Xbees always active, stuck right next to APM
Spectrum receiver the other side to the xbees
Piss poor analogue tail servo i robbed out of an 'art-tech' heli \0/ (yes, i know...)
Hardware 'kill switch'. I'm in tight space, a run away is not an option.
Upshot is (remember this is 2.6 Epsilon)
Acro - usable, fun, what raw RC flying is all about, i think there may be a few tweaks - tuning or code, not sure as not tuned yet, too busy flying acro.
Stabilise - the most stable its been for me. I almost did a vid of me flinging the tri in the air unpowered and then just hitting the throttle to bring it level and fairly still - it was inspiring so much confidence! Then remembered I was in the garden so settled for trimming long grass, dusting the barbeque, nudging the motobike till the tilt alarm beeps ( i must do a vid of that actually), and trying to further train my brain in nose-in and side-on orientation. Not bad for an untuned, ropey looking, bent, overpowered tri.
Alt-hold - baro-only for now.
Just spot on, the APM2 baro is great and the code seems spot on, and for me the defaults for throttle and alt rate were fine. I was flicking the switch 3 feet up, giving full pitch forward into full pitch back over and over again, over a space of 20 feet (length of my 'garden' if you've seen it) I just skimmed the grass with either the tail or the front arms for about 2 mins, never got more than 4 feet away, never got closer than 2 feet. Sonar is now only really good for terrain following/avoidance and showing off 'using the force' ;)
Loiter
Bare in mind small area, built up, so not proper testing. Nasty swirly winds, tried below the fence line a few times before i went for it, and i was impressed so went for it. The tri is light and was getting, literally, thrown 20 feet downwind, in almost any direction due to swirling gusts between buildings, but it was leaning back towards home all the way with power and determination. It needs tuning/tweaking ;) but the new default params are much better, i will be tuning and keeping a close eye on any ideas anyone has on improving the code for this, I'm actually starting to understand some of it...
Auto
When the rain stops...
I have a few minor issues, most of which probably (shoddy) hardware related. I'll test and report if necessary.
The last few beta releases have been a great step forward, looking forward to the fruition of the work going into yaw, loiter and auto.
Well done all :)
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DeveloperPermalink Reply by Marco Robustini on -
The video of the 2.6 final version is on my youtube channel...
In the description the specs of my quad.
Bests, Marco
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Permalink Reply by Chapelat Daniel on -
Hello Marco
Excellent, well done, I hope to reproduce your flights this weekend with my quad & 2.6
I am waiting for your skills and ...... the same cap ...! ..
Daniel
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DeveloperPermalink Reply by Randy on -
2.6 is released! All aboard on the 2.6 release discussion here!
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Permalink Reply by John Campen on -
does this version of MP still require Net framework 3.5? One a new laptop I'm having trouble installing UARTS and the ports aren't showing up in MP
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