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!
I believe it is mentioned:
Indicates that the units are meters per second. (i.e. 0.4 is 40 cm per second).
Is that true? I was thinking this must be outdated. Here in the Netherlands Bft 4 with 10 m/s gust is very common. If the copter is trying to compensate with only 35 cm/s it would have no hope of loitering for most days.
Also in the movie by Marco there is supposed to be 15 m/s wind, that would be impossible wouldn't it?
OK, that makes more sense.
Thanks for the tips, its really helpfull, so I just tried tuning the Loiter_RATE_P and the result is better.
Now my quad is loitering within 4 meters box and now my LOITER_RATE_P is 2.680, if I increase more, I saw some overshoot.
Next I will try is tuning LOITER_RATE_I cause I saw that I use very small value which is 0.010 when I do the above test.
I attached some of my logs when I do LOITER_RATE_P tuning.
Ok, good. I had a look at your logs and you do tend to still overshoot or sometimes not quite reach the target which makes me think you still need a little more P although I can also see the jagged edges appearing in the P (yellow line below) which I think could be a sign that your P can't get too much higher. Maybe a bit higher I and perhaps a touch of D as well..
I want to check the barometer feed. In the tuning "Graph This" box which one do I tick to see the live feed?
Hey again guys.
quick one here, I've tried to read through most of this thread regarding the YAW issue people are having, on my big octos it's almost impossible to fly as yaw is all over the show with 2.5.3, but when going back to 2.3 or .49 its solid.. So obviously not a hardware thing, any help, has this been solved yet ?
Any help or advice would be great.
Duran, read the PM...
If the pm solves duran's yaw issue, I'd like to read it too, cause I'm having the same problem. :-)
Duran, open new discussion in the "Testers Group" about the yaw issue, thanks!