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 Jonathan M on -
Guys, thought I would post this hear as well, since this thread gets more visibility from the right people :)
http://diydrones.com/forum/topics/apm-2-gps-not-getting-a-lock?comm...
In sum, my GPS no longer gets a fix. I consistently get 5-7 sats and let it sit for a longgg time and no fix. CLI GPS test gives no lat, long but it does give alt and sat count. I am running an APM 2 with 2.5.5. The GPS used to work, the proof being that I had many loiter flights under my belt. I am not sure what has changed to cause this, but I am thinking it is hardware.
Is there a GPS hardware "reset" that I can try? Or any other suggestions? Everything else seems to work fine on the board. Should I try a different GPS?
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Permalink Reply by Emin Bu on
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maybe you just need to wait a bit longer,yesterday was 25 mins for first 3D fix....
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Permalink Reply by Nick on -
Haven't heard much about the Optical Flow sensor.
Is it now fully supported or still experimental? (I see that it will now work on APM2)
Anyone have video of it in action? maybe in some windy conditions.
Also can it still be used with the Sonar? or recommended one or the other.
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DeveloperPermalink Reply by Randy on -
Nick,
The optical flow sensor is supported on APM2. I think it needs more tuning at least though. It uses a pretty simple algorithm (just a simple position based PID controller) so if you have constant wind it's ok but much like regular loiter it gets pushed away from the target if it's windy.
The devs have been mostly looking at regular GPS loiter recently and not so much the optical flow loiter.
-Randy
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Permalink Reply by Mike Mac on
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Any rough estimate on when 2.6 will be ready (1 week, 1 month, 6 months, next year) ?
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Permalink Reply by Chris Kreuzer on -
next weekend....Chris said...
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Permalink Reply by Chris Kreuzer on
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Any changes with minimOSD in AC 2.6?
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Permalink Reply by stubugs on
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Does the minim osd work with the apm2 as all I get is waiting for making data with no USB connected and using 2.5.5
Osd works fine with my apm1 any ideas or recomendations chaps
Stuart
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Permalink Reply by Alex on -
have you got the try swapping the TX/RX over at one end... it worked for me!
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Permalink Reply by stubugs on
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Cheers pal that worked which way do the xbee connections go
Tx and rx correct or swapped.
stuart
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