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: 116078

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Replies to This Discussion

Permalink Reply by Andrew Fernie on March 25, 2012 at 4:12pm

Four good flights on a 3DR with 2.5.2 yesterday until the rain came. Loiter was O.K., RTL kind of worked, but overshot a couple of times before finally settling in and landing (make sure you have a lot of open space for it to land on, and that you can keep yourself in a safe location...), but it did work. Some in-flight video below. This is using a "BOB-4" OSD module controlled by an APM1 in my ground station. I like the fonts over those of the 7456 based units and It let me make an altitude bar for the last 2m (sonar based, so good for the landing on goggles),  reverse video for warnings (towards the end of the video), and simple vector graphics (although no double buffer, so need to always erase then draw).

Some in flight video is here 

Permalink Reply by Chris on March 25, 2012 at 9:38pm

Hey Andrew

I like ure OSD, that for what i searched so many Times. (Sonar Help for Landing, Status of the copter - if its armed, Sat count in Numbers - and so on)

Have u a How-To, how i could get this too?

Chris

Permalink Reply by Andrew Fernie on March 26, 2012 at 6:11pm

Chris,

It is a development of my system described here, but using the BOB-4 rather than the Remzibi. Not shown in the new video, but the menu selection is nicer too with the BOB4 as I can use reverse video to indicate selections. I also have a map page running that shows the route as a plan view. I will have to get that recorded one of these days when I am at the field.

Code and the schematic are here packaged in the BOBOSD.zip file. It has sure been more work than it would have taken to just have used a minimosd, but this is fun, and it is not finished yet.

Andrew

Permalink Reply by afernan on March 25, 2012 at 10:40pm

Flight testing on 2.5.3

Mid size custom quad:

GIT version AC 2.5.3 c25ae4bcaec3

APM2
Size: 500mm motor-to motor
weight: 712gr
Motor: T-motor MT 2212-16
Wind: from calm to mid wind at the end.


General: it flown very well. No major issues.
Details....

LOITER. After some tunning (close to deffaults) loiter quite well in both heigth and position. See image: Radius about 1m, heigth < 1m (only baro).

YAW. Still some small problems but good enough to flight with confidence (see logs Yaw-Mag Heading and image attached). It´s clear the relationship throttle level-yaw effect.

AUTO. Not good. It performs the work but very imprecisely compared with previous versions (<2.4). Also it travels from one point to other not heading correctly (there is about 45º yaw) although trajectory is OK. One reached the point it turns with a very large radius. Not nice
RTL. When close to take land. it jumps like a rabit. Not nice. Throttle should drop down much much more quicker.
STAB. I have some glitches (not too offen).

I have some videos. I´ll post when ready.

Angel

Permalink Reply by Guido on March 26, 2012 at 10:07am

Hi,

what value i must change to get stable ATL HOLD?

My config is: Quad 3DR frame set to X, esc from diydrones store, T-motor 2208, 10x45 propellers, sonar.

With the default pid for alt hold when i fly under 1 meter and activate alt hold the quad fly well and stable at right altitude (under 1 meter) if i fly at 1,70 or more meters when i activate alt holt the quad goes up fast at 3 or more meters.

I must change throttle rate P or altitude rate P?

thanks and sorry for my bad english


3D RoboticsPermalink Reply by Chris Anderson on March 26, 2012 at 10:42am

Guido: Are you using 2.5.3?

Permalink Reply by Guido on March 26, 2012 at 10:55am
yes, i'm using 2.5.3. I do reset from cli setup. Esc calibration and all hardware setup.
stable mode is great :) 

DeveloperPermalink Reply by Randy on March 26, 2012 at 5:01pm

Guido,

     Can you try downloading a dataflash log or if you're using an xbee a tlog from your mission planner?

-Randy

Permalink Reply by Guido on March 27, 2012 at 1:32am

yes, after 32% i test the ALT_HOLD under 1 meter and it found, then i test over 1 meter and you can see that the quad goes up, and i must disable ALT_HOLD mode becouse i'm in home.

Attachments:
Permalink Reply by Aerhead on March 26, 2012 at 2:48pm

I'm quite new to Arducopter but I've had my APM2 board in my octo and now in a quad.  The small quad with 10x4.5 props. 

With 2.4 firmware I had very good sonar alt_hold.  Held in a range of less then a foot.  Then I changed to the new firmware 2.5 and after two days of reading the forum I had it working ok.  The attitude control was very good.

Now with the with the 2.53 firmware it won't even fly smooth.  I did a reset and have the new default setting. The sonar will try to hold altitude but goes up and down 4 feet and I have to have the alt_hold Kp set at 4 instead of .5.  Yaw jumps 25 degrees and when I set it back it just jumps back again.  The quad acts like there's some major bug that I loaded with the new firmware.  So far I've broke one arm and around 15 props trying to tune my quad.

I reloaded 2.53 from a different computer and see no change.

 Is there a way to completely remove the firmware and setting?

Larry


DeveloperPermalink Reply by Adam Rivera on March 26, 2012 at 3:27pm

Larry: If you could post a log file (the .tlog and .log files) of your flight that had issues that would be incredibly helpful. I have experienced similar issues, but we need log files to nail it down. You can either post it here or PM it to me. Thanks!

I don't think it would be wise to go back to an older revision of code. It is unlikely that updating to 2.5.3 is what caused your issues. There were several critical bug fixes in 2.5.3 so I would stay with that for now. If you are convinced you want to switch back you can grab earlier revisions from git or from the downloads section: http://code.google.com/p/arducopter/downloads/list  I would advise against doing this though.

Permalink Reply by Aerhead on March 26, 2012 at 5:31pm

Adam

It's taking awhile learning how to get the logs. I hope I have the right format.

Larry

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