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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DeveloperPermalink Reply by Adam Rivera on -
Also, I don't think that the dip earlier in the flight necessarily rules out bullet connector, esc or motor issues. It could have been failing at that point.
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Permalink Reply by Todd Hill on -
Adam, should this not be commented out in the APM_COnfig.h file. Is this for APM2 users? I was having Altitude hold problems as well, until I commented this out. All my APM1 boards are all working great now in Altitude hold and Loiter>
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DeveloperPermalink Reply by Adam Rivera on -
Coincidence... commenting that out should not have changed anything in your flight.
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DeveloperPermalink Reply by Adam Rivera on -
Keith, do you have the .log (not the tlog) from that flight?
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Permalink Reply by Keith S on -
How do I get the ".log" file?
I haven't powered it up since the incident.
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DeveloperPermalink Reply by Adam Rivera on -
If you downloaded your tlog from the board, it should be in the same folder as the tlog was. That folder is the Mission Planner folder under logs.
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Permalink Reply by Keith S on
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Attached is my .log file. This is very confusing to read and understand what to graph.
I'm almost convinced it is a hardware, electrical problem, or noise.
I've searched around on the forum but couldn't find material to try and understand how to use the ".log" and ".tlog" to help me get my head around what happened.
- Attachments:
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2012-03-19 05-11 84.log, 709 KB
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DeveloperPermalink Reply by Adam Rivera on -
Keith, I just took a look at your log. Unfortunately your Attitude logging must not have been enabled for this flight because I don't see any of that info in there.
Also, don't give up on the logs. The first several times that I looked at them it was all greek, but it will soak in eventually.
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Permalink Reply by Keith S on
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Just found something! The I2C translator on my magnatometer board was loose.
I was checking the sensors in the Mission planner terminal viewer and the compass was not operating.
Could this cause my issue?
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Permalink Reply by Gustav Kuhn on -
I've loaded 2.5 in my DIY quad flying +, and a friend's X, heavy unknown quad, and other than having to fiddle a bit with the TRIM-THROTTLE to get it to Alt Hold, I think this code is a winner, as stability goes.
Will try all the other functions later this week.
Thanks again team !
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Permalink Reply by John Hanson on -
Ch 6 can be set to 'Relay' in Mission Planner. Does this toggle any output on APM2? Where in the code can I grab ch6 'relay' to toggle an output like camera shutter?
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DeveloperPermalink Reply by Adam Rivera on -
I have been flying so much I haven't had time to reply. Great work dev team. This is a fantastic leap forward.
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