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: 115151

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Replies to This Discussion

Permalink Reply by Dave C on June 9, 2012 at 4:10pm

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).

Comments:

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....


DeveloperPermalink Reply by Marco Robustini on June 9, 2012 at 3:34pm

Nice videos Dean!!! :-)

Permalink Reply by steve F11music.com on June 9, 2012 at 4:57pm
Any idea when 2.6 will be pushed to mp?
Permalink Reply by Ian forbes on June 9, 2012 at 8:03pm

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...

 


3D RoboticsPermalink Reply by Chris Anderson on June 9, 2012 at 8:11pm

Ian: I'm not sure the 1280 is supported anymore. 

Permalink Reply by Ian forbes on June 9, 2012 at 8:15pm

oops meant 2560, APM2 puple board..

Permalink Reply by Ian forbes on June 9, 2012 at 8:19pm

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?


3D RoboticsPermalink Reply by Chris Anderson on June 9, 2012 at 8:23pm

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.

Permalink Reply by Ian forbes on June 9, 2012 at 8:25pm

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?

 


3D RoboticsPermalink Reply by Chris Anderson on June 9, 2012 at 8:32pm

You went into the CLI and selected setup/reset?

Permalink Reply by Ian forbes on June 9, 2012 at 8:37pm

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...

Attachments:

3D RoboticsPermalink Reply by Chris Anderson on June 9, 2012 at 9:09pm

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. 

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