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: 115149

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Replies to This Discussion

Permalink Reply by John Campen on March 31, 2012 at 10:59pm

wires all look good Chris. It does move between 20cm and 32cm so something is happening..

Permalink Reply by Aerhead on April 1, 2012 at 12:06am

John

Is it possible the sonar was moved just a bit and it's now sensing a part of the copter? If it works a little it should work all the way out.

Permalink Reply by Dave C on April 1, 2012 at 5:03am

Also check the grate on the base of the sensor, after mounting mine a little low i got a bit of mud in it after a hard landing.

 

Sometimes it would work fine (when the mud was to one side) and other times it would just lock and the quad would constantly climb.


DeveloperPermalink Reply by Marco Robustini on April 1, 2012 at 1:46am

Check the position of the sonar, you need to consider a very wide viewing angle, so it's likely that you're framing the gear.

Permalink Reply by Jean-Philippe Hell on April 1, 2012 at 6:35am

Hello,

I would like to compile the latest version of the ArduCopter by myself using Linux/Ubuntu, but it doesn't work (have an out of range error while compiling).

Actually it works well using the Mission Planner to load the pre-compiled code, but I would like to enable the piezo buzzer support.

Any idea ? Thanks - and congratulation for the ArduPilot !

Jean-Philippe


DeveloperPermalink Reply by R_Lefebvre on April 3, 2012 at 7:27am

Have you tried to hook up the piezo already?  I believe it is enabled by default.


DeveloperPermalink Reply by Adam Rivera on April 1, 2012 at 7:22am
You can enter your declination the same way you always have.
Permalink Reply by Todd Hill on April 1, 2012 at 9:40am

excellent position hold in light breeze!  

http://www.youtube.com/watch?v=lqGamp0gKy4


3D RoboticsPermalink Reply by Chris Anderson on April 1, 2012 at 11:13am

Todd: Nice one! Is that APM 1 or 2? Any special PID settings?

Permalink Reply by Jonathan M on April 1, 2012 at 11:33am

Care to post your param file and setup?  That is a great loiter!


DeveloperPermalink Reply by Marco Robustini on April 1, 2012 at 11:22am

An evocative image of my little xquad that I use for testing, during a loiter passed an airliner, and there was also the Moon... :-)
It's a frame taken from one of my fullhd videos, excellent as wallpaper for your desktop!


Permalink Reply by Jean-Philippe Hell on April 2, 2012 at 4:41am

Very nice :)

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