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 Rick F on -
Did the erase, reset, reload the code (2.5.4) into the APM1, re calibrate compass, radio etc. Still spins....I'll try again tomorrow.
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3D RoboticsPermalink Reply by Chris Anderson on -
Are you absolutely sure your props are all correct (right side up, pushers and pullers in the correct order)?
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Permalink Reply by Rick F on
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Checked motors rotation again and found one was turning the wrong way, problem fixed. The lesson here is that even if you check things twice, check again..... Thanks for the help.
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Permalink Reply by Emin Bu on
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Also are you absolutely sure props,arms and motors are not tilted in any way...sounds exactly like that is the case.....
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Permalink Reply by John Campen on -
where can I find information how to tune PIDs with channel 6?
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Permalink Reply by Rick F on
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In Mission Planner click on the "Configuration" tab, then on the "Arducopter" tab. In the lower right hand corner of the form you can set which parameter you want to assign to CH6 for tuning. There are detailed instructions in the Wiki, http://code.google.com/p/arducopter/wiki/AC2_Tweaks "In-flight tuning" section.
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Permalink Reply by Fressinet Jean Louis on -
I have tried the in-flight tuning for stab_roll center value 4,000 Mini 3,800 Max 4,200
selecting either a switch or a potentiometer does not work even reducing as described to 25%.
Verified as described in the wiki in parameters page... the adjusted value will jump from 0 to the Max 4.200
I have an APM2 purple board ,I tried with two different radios Hitec Aurora9 and Spektrum DX8.
Any idea on what I am doing wrong.
Tkx
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Permalink Reply by James Friend on
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Hi Jean Louis
I had the same problem when first trying in-flight tuning, and then realised I had never calibrated channel 6 in mission planner.
Hope this solves your problem
James
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Permalink Reply by Fressinet Jean Louis on
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Thanks James
I will do Radio calibration on all channels , hoppe this is what you are referring to.
Jean louis
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Permalink Reply by Fressinet Jean Louis on
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It works well after calibrating the radio with channel 6.
Tks again
JL
By the way do you know what are the new " I " parameters in the new Mission planner in the configuration page PID values :
Loiter - Nav wp - Throttle_rate there are two " I " parameters for each of them.
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Permalink Reply by James Friend on
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Sorry no, haven't had time to look at tuning for a few weeks now, and still learning! Hopefully will get some flying done this weekend.
James
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