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!
Thank you. I did check those links, but unfortunately they don't apply. My baro is showing its behavior sitting still on the ground, motors and ESC not powered and with the Xbee disconnected. I'm tempted a full reset and reload the code to see what that does.
I found the problem and will post it on the baro trouble shoot thread as well: the MinimOSD was mounted directly above the baro sensor, approx 1cm away. This caused interference. When I moved it 2cm away, the problem disappeared. I had perfect Loiter, Alt-Hold and RTL today.
Yesterday I tested the 2.5.4 version, the first test near the ground with the sonar and the second test at 30m from the ground (baro) , unfortunately we see in the video just the first test because I had no battrie for cam, altitude hold and loiter works very well on this release, generaly my quadro stay in a box of 1m in both test.
this my setup
APM 1, 1280
Esc Hobbyking blue serie 30A
frame gaui 500x
Just a quick thank-you note. Took 2.5.4 out flying today on my custom heavy 1.8kg Hexa, 1000kv Motors, and APM2.
PIDs standard apart from slightly reduced (-0.1) rate-P and stab-P.
Despite gusting 25-30km winds, flying was awesome. First time where I flew all my three 5000mA batteries empty without a glitch. Stable, Simple, Alt-hold, Loiter, Auto with 4 waypoints all worked great.
The only two small issues are that in fast (stable and alt mode) forward flight, the Hexa looses altitude slightly as well as that the RPMs on auto-take-off in auto-mode are not enough to get it off the ground. Any advice on what parameters might improve this ?
Here a short video. The high-shots are all in Loiter-Auto mode in strong wind as I could not see the Hexa properly against the sun.
Thanks for making all this fun flying possible!
You are a VERY fortunate person. Here in the United States, if you made the same flight near a major airport you would be in jail. SERIOUSLY!!!! IN JAIL until you appreared in front of a judge.
Taipei must have very liberal laws on flying within a mile of an airport traffic pattern.
Nice flight by the way.
gosh your nearly on the end of the runway! Nice video.
Hello all, new guy here setting up a large hex.
I can't even take off. I've tried stabilize_P from 3.5 to 5.0, all seems about the same. flights are a few seconds before oscillations get so wild it almost flips over (would flip over if I didn't kill throttle).
Those 70 amp motors are going to be hard to tame. If you know how to fly well in the Acro mode when set your rate P =.7 and I =0 and D= 0 for a starting point. Increase P till it oscillates and then lower it a little. Now raise"I" till the copter will hold an attitude while the joystick is in the centered position.
Read the tuning guide in the "Quick starting guide".
Be very careful.
set your rate P =.7
Wow, that's gotta be a typo. once it got enough throttle to leave the ground it flipped 180 and slammed on the floor upside down.
Read the tuning guide in the "Quick starting guide".
did that, several times. I'm just not seeing anything useful. Spending hours wading through forum posts, ditto.
Varying rate_P from .09 to .145 and varying stabilize_P from 3 to 5 shows no appreciable difference, but then it's so incredibly unstable the "flights" are 2 or 3 seconds long before it goes insane.
Has anyone used Scorpion Commander ESCs? I've found one reference that says they're not good for multicoptors, but no other info. I picked Scorpion motors and ESCs in part because they work great on the Gaui. Connected that Gaui motors and ESCs to the APM1 on a new frame, and it worked fine. No joy on this thing, though.
I think you will have to lower even further your rate P. The ideal would be tunning it via ch6 with a variable channel (potentiometer), with min value = 0.01 and max value=0.09 (since you have oscillations at 0.09 already). Too powerfull motors require much less compensation. Start from the min and increase untill you have oscillations, then drop a bit. Also, for Stab P you should start with a much lower value like 2 or 2.5 untill you have rate p right, then increase stab p, but I think you won't increase it much more than 3 or so.
I second that. I had to use Rate_P as low as 0.040 to have a stable flight with some motors/ESCs...
also make sure you have all motors spinning in the right direction and all the props accordinglly and ESCs' throttle calibrated.