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!
Thanks John by the whole Team! :-))
The Auto/RTL do not work very well, this is also due to inaccuracies of the yaw / compass, we are working on.
Can someone post their Loiter Numbers along with Nav numbers...
Along with any info on how to tune Loiter..
WIth Loiter_P at 3.0 my tri drifted off by 400 feet measured... but it did stayed at 10 feet +- 2 feet !!!
Thanks to all involved in bringing these continued releases. It is hugely appreciated and allows us to have more fun.
I updated to 2.5.3 this morning and took it out for a test.
I Have never had any issues with any of the releases and the defaults have always given me a pretty good flight. Unfortunately this has come to a screeching end.
I have a stock 3DR quad with 850s and a 3S lipo.waited for 3D fix on GPS
I've disabled the sonar in the today's flight as it appears to be busted (confimered that there is no varying output voltage with changes in distance)
- Alt hold is, like someone else said, a pogo stick. Set around 1.5 - 2m height and it bounces from that to touching the ground to shooting some 5-10m above my head before I switched back to stab and recovered. it seemed hell bent on going somehwere.
- General flight is very poor. Wild oscillations on decent lots of unwanted yaw and drifting. had one minor crash because of it. More on that in a bit.
- Auto to waypoints does not appear to work. I set 5 points around a field and it sort of headed for one then in the approximate area decided to head back towards me. Seeing as it was not following the route I switched back to stab and tried to recover. Due to yaw and oscillations, I had a small crash - hit the ground in motion and it flipped. No damage though.
- second attempt at auto and instead of heading to waypoint 1 it went hell-bent off to the left of it and seemed to have no intention of going near it. I aborted before I was out of my depth.
Went out again this afternoon and normal flight is not very friendly. I had a sneaking suspicion it was going to end in tears so stopped after a couple of minutes. Forward was not really forward, backwards was not really backwards, both had a yaw to them or just went off to the side.
There is also a drift to the right now. On 2.4 I had a bad drift to the left, lots of trim to correct it. 2.5 it was gone, 2.5.3 it's back but to the right, not as bad though.
Not sure what is different but as I said, I have always had a decent flight with the defaults (other than the recent throttle trim thing) but some some reason, the quad is being a bit rude with 2.5.3
Conditions were chill (10c) with a very very light headwind. Hardware wise, no different from 2.5 to 2.5.3 other than disabled, but still connected, sonar.
Please please please - it is all constructive. If I were a clever man then I would roll my sleeves up and help. But alas, you lot are better than I and I appreciate the work you're doing towards this. I'm not knocking it at all. Just some feedback.
Logs from today should be attached. I think 150 would be the longest one from this morning with lots going wrong. Don't know how to tell.
I haven't looked at your logs (yet) but could you should try doing an eeprom reset? I.e. terminal window, type "setup", then "reset". Then you'll need to go through the APM_Setup procedure again.
..perhaps before you do that connect your quad to the mission planner, configuration screen, push the refresh button on the bottom left and save the parameters to a file and post them here. I suspect if you compared them you'll see some parameter is out of place and this is the cause of the instability.
Thanks. I'll try that and see.
Having a look at the GPS logs, it was wildly out. I had the laptop connected at the time.
The red dots are roughly where my WPs are (sorry, did not know how to overlay them in this view)
At no time though was the quad (from my perspective anyway) off to the top right (I would have freaked if it went over the busy train track) and top left. I'm not sure it was in the centre of the field either. Where it is in the screen print is where I was standing.
The MP log is also attached - it's interesting though how the alt jumps around quite a bit and there is no way it was moving up and down that fast.
I'll look at your logs a bit more when I get back home tonight (it's monday morning in Tokyo). From a quick look this morning, your barometer pressure and temperature were moving around a lot especially when you were flying. I wonder if you could do a bench test in which you check the altitude as reported by your barometer both while it's sitting on the bench doing nothing, and then again with the motors running at full speed (but with the props off of course). Just trying to rule out a power supply problem.
I'll try that out this evening when I get hone.
All the gubbins are housed in a CD case so should be protected from prop wash.
I'll update later.
Delay reply - apologies. Only just fixed PC...
Log file attached. There seems to be a lot of movement on the baro even though it is still on the floor with no props. Motors varied between off and 100% (stick).
Not sure what the units are so it might be a lot, might be a little...
What's the verdict doc? Do I need a new heart?
Just tried this, no difference in the params other than compass. Expected?
ArduCopter V2.5.3 - Long Loiter with heavy X8 in strong wind (APM1 - only baro):
GIT Revision: c25ae4bcaec3
I do not remember who had asked me a demo with long loiter, anyway here my daily video with my heavy X8 in Loiter for six consecutive minutes, with very strong and gusty wind, without sonar, only baro with the latest fix by Randy.
And the testing continues.... have fun, without crash!!! :-)
Nice! Great video, Marco.
My parameters here...