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: 116019

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Replies to This Discussion

Permalink Reply by Dave C on March 18, 2012 at 9:28am

Yup, 'Big Up' to all you developers and testers, I am having a ball with this 2.5!!

Thank you very much indeed!!


Marco....OK, I'll BITE!!


250g battery hanging off one leg,

DJI flamewheel (glued), standard ardu 850 kit, 10*4.5, 2200mah

Stab mode only - quite a lot of it hands free :D

Arducopter 2.5 Battery dangle from Kamakaze UK on Vimeo.

Permalink Reply by Dave C on March 18, 2012 at 11:14am

More..errrr.....testing.

Use More Beer!!! Always a good motto! from Kamakaze UK on Vimeo.

Yes I know.....

Permalink Reply by Rui Manuel Cravo Marques on March 18, 2012 at 11:21am

lolololol Dave, you're too much ! Let's not consider the 2nd part of the video :D That was great, next time, drink only half can :D

 


DeveloperPermalink Reply by Marco Robustini on March 18, 2012 at 12:25pm

I really love this video! :-)
Dave, you are officially recruited by me (LOL) as a "beta tester" for future versions... :-)
Seriously, we wish to choose some reckless with good experienced in flight/tuning to test future "alpha" versions, that will interact with some components of the dev team (like me).
I will leave a message here on the thread for the "possible candidates".
However you're one of those, absolutely! :P

Cheers, Marco

Permalink Reply by Dave C on March 18, 2012 at 1:43pm

Thank you very much indeed, Sir! I'm looking forward to getting my hands on the darkest corners of the private GIT repositories ;)

Starting tomorrow I've got three killer weeks work, then a weeks holiday.

Then I've decided to devote some proper time to this project, I'll be at your beck and call for a while :)

In the meantime I'll be following closely and all ears. (my night time reading is going over various tuning guides trying to properly get my head around it all)

If you need anything testing please feel to drop me a line, even over the next few weeks I will be taking the quad to work with me ;)


DeveloperPermalink Reply by Marco Robustini on March 19, 2012 at 3:46am

Dave, if you pushed the quad a hair higher than you would have shot in the basket with the beer... I want to be in your next video... HAHAHAHA! :-)

Permalink Reply by Dave C on March 19, 2012 at 3:55am

I might start experimenting with 'flip' see if i can shoot me a few hoops :D  


DeveloperPermalink Reply by Adam Rivera on March 19, 2012 at 10:28am

Marco: You are an expert pilot! Damn! I think I am going to have to fly to Italy for a lesson :-D Did you have your Stab_I term cranked up for that bottle hanging test? What were your Stab_I and Stab_I_Max?

Permalink Reply by Boris Rabusic on March 18, 2012 at 3:34am

small info.

I tried to upgrade from 2.4x to 2.5 using MP, board is 1280 and after eeprom 116->117 message there was message about being unable to update. Board can not boot, or connect over MP again.

I'll try to upgrade it over arduino.

Permalink Reply by Boris Rabusic on March 18, 2012 at 4:10am

I've restored it to 2.4.1 using Arduino with logs disabled.

2.5 can not fit on 1280 :(


ModeratorPermalink Reply by John Church on March 18, 2012 at 10:27am

That's right Boris; it won't fit unless you compile with Arduino and disable CLI. I've got Issue 392 open for the ability to set your GPS module definition (example:   http://code.google.com/p/ardupilot-mega/wiki/Combo1), which should let us specify our GPS and save some space by not having all the GPS drivers loaded for the Auto Detect. I'd prefer to do that over killing CLI...

Randy- Can you add this to page 1 to let users know? 

Permalink Reply by Cliff Dearden on March 19, 2012 at 7:31am

Hi Boris, I'm not very computor literate but I loaded 2.5 onto my 1280 board and every thing seems to be ok.

Apart from it falling out of the sky when I engaged 'Alt Hold' This problem was fixed by setting the

TRIM-THROTTLE to 450 as was suggested earlier. It still 'falls' when I engage Loiter and I'm not sure

how to fix that problem.

 

 

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