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: 116057

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Replies to This Discussion

Permalink Reply by Peter on May 22, 2012 at 3:00pm

Thank you Marko will try later today, and will post results later today.

My Esc can handle 4s but my motors are rated for 3s, oh well next upgrade I will look at motors that can handle 4s.  I only went with those motors since most people ware using them with the multiwii quads.  I am used to nitro helis much easier no KV 3s 4s ahhhhh.

 

Regards Pete


DeveloperPermalink Reply by Marco Robustini on May 22, 2012 at 3:18pm

The motors of my quad (in my latest video) are rated for 3s, but i use 4s... :-)

Permalink Reply by steve F11music.com on May 22, 2012 at 7:27pm

I see you have the same quad frame I have. I have some 10amp ESCs and turnigy park flyer 300 1080kv motors with 8045 props. The problem is I don't trust the prop savers and prefer a collet but not sure if that motor will take one. What motors and props are you using? 3S or 4S? I run 4S on my 3DR Quad with purple motors and 10" props. I like the performance vs the 3S but for this light quad like yours, maybe 3S is ok. 

Permalink Reply by Peter on May 22, 2012 at 8:03pm

I feel sorry for your motors lol, but your videos certainly show you know your stuff.

Mother nature is against me so will have to wait for the test flight.

 

Regards Pete

Permalink Reply by Grips on May 23, 2012 at 7:15am

I think that I may be having an issue with the 2.5.5 code. When I was out testing this morning I noticed that when I switched into Alt Hold mode (Sonar enabled and tested fine) that the copter slowly lands on its own at a consistent rate. If this were a autoland feature, then it works flawlessly in terms of throttle control. Is this a flaw or something that I might have setup incorrectly? I tested the modes and I'm using loiter, alt-hold and RTL. Still tuning PIDS right now.

Let me state it. I despise dampening. Is this basically a APM expo setting? It seems like it is not consistent with pitch which remains open to stick input.


ModeratorPermalink Reply by Dean Wynton on May 24, 2012 at 2:18pm

Sounds like the I term in altitude hold is too high? try lowering it and it should work? what are your settings for altitude hold?

Permalink Reply by Grips on May 26, 2012 at 5:54pm

Dean: I'll check this out. Today it actually rose instead of fell.. odd?

Permalink Reply by Jimmy on May 23, 2012 at 9:06am

I tried other firmware in the Mediatek GPS:

MTK3329_A1.5E_20110118_10Hz_115200.bin; FMP04_Camled_010327_A1.5E_20110118_10Hz_115200.bin and AXN1.50_2366_3329_96.1151100.1.bin work with minigps but not with apm1.

AXN1.30_2389_3329_384.1151100.1_v16.bin is ok but I can't change defaut value (1HZ 38400b). Maybye GPS must works with APM1 at 38400b?.

Permalink Reply by Jo Peer on May 24, 2012 at 1:20pm

Today I finally was able to test 2.5.5 on my hexa. Setup: Jakub's hexa frame, KDA 20-22 924kv, SS 18-20A ESC & 10x4.5 APC props.  Settings: all standard, rate_KP on CH6 for tuning (0.11 adjustable to 0.14 max and 0.08 min)

 

Stabilize was flying fine.  The yaw now and then lost direction a little bit but it got corrected in the end.  Although the correction was not as fast as I would have liked.

Alt hold: wasn't able to mount my dome (forgot straps at home), probably because of that wind was causing a jojo-effect of about 4 meters.  Will have to test again with dome.  Correction in altitude were very agressive.  Would like to have a quicker response without the response being too agressive.

Positioin hold: complete disaster: big circles and sometimes very agressive correction. Didn't trust it at all...

Loiter: didn't try because I could't get a good position hold.

 

Which standard parameters do I need to adjust to get better results in alt hold and pos hold?

Permalink Reply by Jo Peer on May 26, 2012 at 11:43am

No tips at all?

Permalink Reply by john hamilton on May 24, 2012 at 1:36pm

  I am following the APM2 S/W releases forum & blogs, nice progress.

Question

Configurations supported <?> Tri-rotor with 2 servo, an Enhancement request -

  I have interest for a Tri Y config with two forward rotors using servos for tilt-rotor improved performance.  Is there an interest in APM2 to support this type platform?.  Ard Paris board, and Aussie Scarab are flying this config, with good success.

reference flight video, here:   http://www.multiwiicopter.com/products/avatar-tricopter-g10-basic-d...

Servo mix with ESC for different flight attitudes, requires new dev & flight regime testing, I believe.  I do not believe that it is straight-forward, unless you have a servo configured tri-rotor platform for tests to get mix ratios.

 Regards - john h., Calif.


ModeratorPermalink Reply by Dean Wynton on May 24, 2012 at 3:04pm

O.K here is some vids of 2.5.5 using a homebuilt Tri made from large chopsticks, cable-ties and some fiberglass basically a load of old junk...

If this can fly as well as this.. Although it`s taken a while to tune, and it`s still not as I want it? but what can be expected from cheap 6 pound motors and 4 pound esc`s, some pine sticks, cable ties and a bit of superglue?

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