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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3D RoboticsPermalink Reply by Chris Anderson on -
Greg: there's nothing wrong with the MTK -- we fly with it every day. Sure, our forthcoming Ublox GPS is better, and like all other technology we upgrade our product line every six months or so, but thousands of people are flying sucessfully with the MTK today.
Here's some logs from my flights yesterday with the MTK in 15MPH gusting wind
Loiter (green
Two waypoint missions:
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Permalink Reply by Lars Carlen on
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Inspiring!
Have you ever described your equipment in detail? Close-up pictures, cable arrangements...
Lars
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DeveloperPermalink Reply by Marco Robustini on -
As Chris has also written with MTK can get good results, but far enough away from the performance of U-Blox.
This evening (local time) I put here a mission done with my quad, Google Earth shows very straight lines in the movement, with very little angle or curves, while in the images of Chris is clearly seen that wave at the center of each leg.
With U-Blox does not happen.
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Hello Marco and thanks for fascinating videos!
Where did you put the mission? I haven´t seen it here around.
Lars
Edit within 15 min:
Sorry, I have found them. Congratulations and continue to show reports about your flights.
Lars
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ModeratorPermalink Reply by Dean Wynton on -
Looking at the difference I can see the improvement with Ublox, Is Chris using the same firmware? I think a true test would be using the same craft same firmware and same pids and only change the gps units and see the difference?
I have my Auto mode working fairl well but cant change gps units easily as I have the apm2.0 with daughterboard. And I cant test this myself as the gps data I get from the flashlog is incorrect and will be until the code is changed. See here link to discussion. Looking visually the results I get with no wind are good but this needs to be tested by me with the gps overlay.
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DeveloperPermalink Reply by Marco Robustini on -
Tomorrow i swap the gps unit and i try two identical AUTO mission...
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Permalink Reply by Greg on -
Chris this info on the MTK is highly appreciated. It is always handy to have a good point of reference. Sorry my post was a bit misleading. I have the MTK already and have used it for a while with my APM1 I was just noting I bought another when I could have waited for the improved model. At least I opted for the non Gps APM2 version and look forward to receiving this once it is back in stock.
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Permalink Reply by Guy Gauthier on
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Hi! Marco,
I like your videos, they are very demonstratives!
I can't wait to try the V2.6 code on my Hexa!
Thanks very much for your good work.
Guy
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Permalink Reply by Mike Mac on
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Will the new U-Blox GPS become a standard part of the AMP2 in the future or will that be an add-on GPS? I’m just trying to figure out the upgrade path for us current AMP2 owners that have built-in GPS?
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Permalink Reply by Chris Whiteford on
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I was fortunate enough that I had seen that this new GPS was coming and was able to cancel my original order with the integrated GPS unit and re-order the APM2 without it.
But I suspect that the upgrade path will be having to get the other daughter board without the GPS. Though those aren't for sale separately yet.
It would be great if we could get some more info on this new GPS though. Even a post that says "Hey wait on ordering GPS units... we have a new one coming"
chris.
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Permalink Reply by Vincent Mees on -
Is there news on the price tag of this new GPS?
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Permalink Reply by Jeff Milay on -
Marco, your videos are inspiring! I can't wait to get mine tuned as well as yours! (If ever! Haha!) I posted a video earlier in which I was battling a 15mph constant wind with 25mph gusts. Any suggestions on tuning loiter to help battle the winds? Need to adjust Hld_Lon_I and Hld_Lat_I I'm assuming? The conditions were not good for testing but I couldn't resist flying! Thanks again for any suggestions and thanks for awe inspiring videos!
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