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!
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
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?
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.
Flight testing on 2.5.3
Mid size custom quad:
GIT version AC 2.5.3 c25ae4bcaec3
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
Guido: Are you using 2.5.3?
Can you try downloading a dataflash log or if you're using an xbee a tlog from your mission planner?
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.
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: 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.
It's taking awhile learning how to get the logs. I hope I have the right format.