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:
- 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.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- 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).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- 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!
Replies to This Discussion
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Permalink Reply by Gustav Kuhn on -
John, I think your gut feel is correct.
We had huge problems with APM1 in a large gasser (http://diydrones.com/profiles/blogs/my-large-scale-uav-project)
No amount of gel pads had any effect.
We had to go to electric power temporarily, just to prove the airframe, but back to a 50cc single cylinder now.
We have now firmly mounted the APM to a heavy battery, and this ugly contruction is held in place by a foam sandwich
In the pictures it still is the electric version, maybe if you ask Wessie he can post some pictures of the latest re-incarnation.
In my standard jDrones quad, I just mounted the APM1 to the carrier board using mirror tape, balanced the props, and don't see much vibration related issues
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Permalink Reply by stubugs on -
hi
does any one have a Y6 param for a apm1 2560 as ive tried so many different settings and just cannot get a good loiter
many thanks stuart
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Permalink Reply by Vincent Mees on -
Did some new tests today with version 2.5.3.
Loiter went very well and stayed within a 2m radius. Even pulled a leg for a couple of meters and it went to its previous position without any problems.
RTL works also fine but when landed it flipped over. I prefer that it comes home, loiters and then swith to stab and land it yourself.
This evening I went out for another couple of flight and this is the result. Second half is a little bit blurry because its was getting dark. Without the yaw problem it flies quit good. There was no wind. Will try the same when there is a breeze.
Also an odd thing was between flight when I changed a battery it flipped completly during take off resulting in a broken prop. Put on new prop and reconnected batt and took off again without problem.
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DeveloperPermalink Reply by Marco Robustini on -
Hi Vincent, during take-off with the flip have taken a bit of ALE or ELE stick command before the quad detached from the ground?
Unfortunately it was not said but to eliminate the 5 seconds of vibrations during takeoff has been removed resetting of some i-term, so if you apply before the command quad deadlifts this thing can happen.
The correct procedure for takeoff is to lift off the throttle until the quad was raised from the ground, then take action to control it, should not give any commands, just the throttle.
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Permalink Reply by Vincent Mees on
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Ah, didn't know that. Will try it the future.
I also have the flip on video, but its not fun to look at ;-)
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DeveloperPermalink Reply by Marco Robustini on -
My heavy X8 has done the same thing, has turned so violently that he banged on the canopy (180° in less than a second)... :P
I'm sure you've happened to this thing, even if there is wind must not touch ALE/ELE/YAW until it is lifted from the ground.
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DeveloperPermalink Reply by Marco Robustini on -
If you look inside "ArduCopter.pde", around the line #1523:
if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
//reset_rate_I();
//reset_stability_I();
If you uncomment the latest two lines you'll not have this problem anymore, but will be attended by 5 seconds of vibrations during takeoff.
Obviously this if you have a value other than zero "RATE_I" or "STAB_I".
I see that you use motors like mine.
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Permalink Reply by Vincent Mees on
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Well I prefer it like this without the vibrations.
But will have a try at it.
Yes , those motors are quite good.
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DeveloperPermalink Reply by R_Lefebvre on -
Maybe try uncommenting the rate and stability seperately. See if one or the other is responsible for the problem?
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DeveloperPermalink Reply by R_Lefebvre on -
You know, I keep seeing this mentioned, and I can't see why we have this problem?
Why does this cause shaking? I would think it would only cause a drift?
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Permalink Reply by emile on -
looks good!
Only thing I think you have some too low parameter.
Looks like a low RATE_XX_P (maybe...)
What were your parameters?
Emile
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Permalink Reply by Vincent Mees on
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Pids were default. I still have wobble when descending.
I need to tune a bit but don't really know where to start.
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