Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
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!
Yup that's exactly what i did, -30% expo on the yaw and it's bang on. Needs a code tweak probably...
Nice vids Dean,
Only had 10 mins to fly today, so went for jakub tri frame, 1100kv turnigys, 10*4.5's, 2.6gamma, indoors, 3.2*3.4m room, totally stock settings that came with 2,6 gamma.
Video shows take off and flyabout in stab, then a bit of play in baro-only alt_hold - and yes I was prepared to lose the light fitting (again).
Rock solid stab mode, love the higher stock rate_P and rate_D implementation
Really gives a locked-in feel (on the APM1 3DR quad frame too).
Roll and pitch seem more sensitive at stock, than the last rev, but very (and more) predictable.
Yaw was sluggish, 'patched' with -ve expo on tranny
Alt_hold on baro only (uncovered apm, small drafty room with 3kg ish of downward air-thrust swirling about amongst sofas) - Well just silly good, see vid.
This was stock params, far from standard ardu kit.
I'll get to the field one day....
Nice videos Dean!!! :-)
I am trying to load 2.6 Delta via arduino, I keep getting "AP_Intl 6 does not name a type" when I try to upload or verify, what am I flagging wrong? I cleared // from # define CONFIG_APM_HARDWARE APM_HARDWARE_APM2 but still get this error for .6 delta verison, 1260 is selected under board type and right port is selected...
BTW how can you search a specific forum like this one? most have search tools, but this forum I can't find a search...
Ian: I'm not sure the 1280 is supported anymore.
oops meant 2560, APM2 puple board..
That was an error in my typing not in selction to load. This is killing me, no matter what I do, I cant get it to reset. When I hand test she starts level, then she tilts backward and front motors start to accelerate.
I had her flying almost perfect this morning the channel 6 tuning assignment error on my part, now she will not fly...I have reloaded through MP 4 times and no luck. Motors test all good nothing has changed since this morning...
Any thought s gurus?
Did you select the right frame in the APM_Config file? If so, erase your eeprom in the CLI and config again.
If you're not really familiar with compiling the ArduCopter code in Arduino and understand which options you need to change, you should really wait for the hex in the MP.
When I reload firmware, it appears all my PID stay the same? Is this correct? I want to do a complete clean reload, I followed wiki clearred eeprom, reinstalled firmware, but setting still there. How can I wipe and start completely clean install?
You went into the CLI and selected setup/reset?
I used setup erase... I will try setup reset...
As for arduino, I am green but not totally green. Here are the errors I am getting when I try to compile or upload.
I can connect via MP through com 13, no issue there, 2560 selected... trying other option though MP now...
Well, for starters you're using Arduino 022. Please upgrade to the latest version (1.0.1).
It compiles fine if you use the latest Arduino, configure it right for the libraries, select the right board, etc.