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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DeveloperPermalink Reply by Adam Rivera on -
good point :-)
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DistributorPermalink Reply by Dany Thivierge on -
are you on Sonar? I am pretty sure that I could get that if I activate it.... as the baro will not have so much impact anymore...
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DeveloperPermalink Reply by Marco Robustini on -
Yes Dany, sonar enable! I tried only with baro, there's no difference in position, only the "yo-yo" effect but much smoother... :-)
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DistributorPermalink Reply by Dany Thivierge on -
cool, and no yo-yo at higher altitude when you get out of the sonar range?
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DeveloperPermalink Reply by Marco Robustini on -
Of course, but much smoother! Tomorrow I will do another video with sonar disabled.
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Permalink Reply by Allen Bishop on -
Marco:
I have just uploaded 2.5 and am flying a quad with 850's, Standard 20 A ESCs, APM1 with Sonar and GPS. What do you recommend for PID settings to ensure a steady ALT Hold and a reliable RTL?
Thanks
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DistributorPermalink Reply by Dany Thivierge on -
just take the config files attached on page 13 with Marco video!
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DeveloperPermalink Reply by Marco Robustini on -
Hi Allen, try with my parameters (inside the zip in the "loiter post").
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Permalink Reply by Rana on -
Marco, this is really nice but during the loiter, I can see it is still drifting a lot and I can hear the beep sound of your transmitter when you seems to give manual correction.
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DeveloperPermalink Reply by jasonshort on -
If things go well over the next week or two, I'll have a version that uses accelerometers to maintain loiter hold. So far the data from test flights looks great. Almost good enough to dead recon with. I'm seeing about 1.2 seconds of GPS data lag on the MTEK which is why it's impossible to tune the loiter gains too high. You'll just get oscillations.
Jason
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Permalink Reply by Veikko Vierola on -
Reference: "Reply by jasonshort
If things go well over the next week or two, I'll have a version that uses accelerometers to maintain loiter hold. So far the data from test flights looks great. Almost good enough to dead recon with. I'm seeing about 1.2 seconds of GPS data lag on the MTEK which is why it's impossible to tune the loiter gains too high. You'll just get oscillations.
Jason"
That accelerometer loiter hold sounds interesting. What kind of GPS-ACCELEROMETER position update ratio are you planning to implement to the code? (1.2 second interval for the GPS and 0,1 second for the ACCELEROMETER??)
-VV-
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