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: 115173

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Replies to This Discussion


DeveloperPermalink Reply by Marco Robustini on May 31, 2012 at 12:21am

Hi Jeff, wait the next release of ArduCopter for better Loiter, don't spend time now for tuning this code.

Permalink Reply by Jeff Milay on May 31, 2012 at 7:02am

Ok!  Thanks for the reply!  Hopefully the new release is soon!  

Permalink Reply by yovio on May 29, 2012 at 8:16am

Hi,

For the past few days my log is not working anymore. When I try to pull the log it will shown the bellow:

ArduCopter V2.5.5] logs logs enabled:  ATTITUDE_MED GPS PM CTUN NTUN CMD

96 logs

Log -1791,    start 1,   end 1

Log -1790,    start 1,   end 1

Log]

ys negative, and there is no informations.

My hardware is APM2. I tried erase logs, erase eeprom, reset factory default, upload new firmware, upload fw using arduino. Tried latest code from GIT with new dataflash erase method, pul the dataflash and put it back.

My hexa flew well, it just I need the log to help me with analyze my copter.

Any idea what else I should do?


DeveloperPermalink Reply by Marco Robustini on May 29, 2012 at 8:37am

Images from Google Earth of my results with U-Blox GPS unit prototype:

Hi all!
Just for comparation with the images posted here by Chris (MTK GPS) this is my results with U-Blox GPS unit, judge yourself.
The first image is the Loiter of my latest video, the other one two AUTO mission (in the same flight) with 5 waypoint and autoland at the end.
In both test the wind is 8<->10 MPH, the autolanding at the end of this two mission has a maximum error of 4 meters from the point stated.
Chris has conducted the tests with more wind, tomorrow I will try the same mission with both the gps unit.
It's time to leave MTK if you want more accurate results (imho).

Bests, Marco


Loiter with U-Blox GPS

Auto Waypoint


Two AUTO mission with U-Blox GPS

Permalink Reply by Vincent Mees on May 29, 2012 at 8:46am

Marco,

do you have details on your frame, ESC's and motors? Or are they the same as two months ago.


DeveloperPermalink Reply by Marco Robustini on May 29, 2012 at 8:51am

Hi Vincent, no, is different, my new little "kamikaze quad":

- X-Quad "black vetronite" frame by Alessandro Parisi (AleBS - Italy)
- RC-Timer 30A ESC reflashed with the latest "SimonK firmware" (working at 490 Hz)
- E-Max GT2215/12 motors (2s/3s LiPo, but i fly with 4s)
- GEMFAN 10x4.5 nylon+carbon props
- APM2 with U-Blox LEA-6 GPS unit (prototype by 3DR)
- 4s 5000 mhA 40C LiPo
- 3DR Radio 900 MHz telemetry
- TX/RX Futaba 2.4 GHz
- flight time: 11 minutes

Permalink Reply by Jack on May 29, 2012 at 9:33am

Were can I get a U-Blox LEA-6 GPS to test.

 

Jack


DeveloperPermalink Reply by Marco Robustini on May 29, 2012 at 9:44am

Sorry Jack, but this is a prototype, not for sale and do not think it will be soon.

Permalink Reply by Mike Mac on May 29, 2012 at 10:15am
Permalink Reply by Fatih Gokce on May 30, 2012 at 5:38am

Hi Marco,

What is the specific LEA-6 chip on this prototype?

I found these GPS modules with U-blox chips:

https://www.mikrocontroller.com/index.php?main_page=product_info&am... with LEA-6S with passive antenna

http://www.sparkfun.com/products/9436 with LEA-5H with active antenna

I want to make a try with one of these modules. Is it possible for you to make a suggestion? Do you have any idea about active and passive antenna performance? I think your prototype has a passive antenna.

I am also wondering if there is anyone having Sparkfun GPS module with U-blox LEA-5H and tried Loiter and Auto.

I have MTK GPS and obtaining S type large curves in Auto mode similar to the results of Chris. 

Permalink Reply by Greg on May 30, 2012 at 6:28am
Marco by not soon, are we talking 6 months or more for the new GPS?
Permalink Reply by Vincent Mees on May 29, 2012 at 10:34am

I think we should just wait untill 2.6 comes out before blaming the new gps for the better results ;-)

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