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 Emin Bu on
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...it is not a radio issue,radio calibration is ok no adding throttle...
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Permalink Reply by Olivier on -
Hi folks,
Just 2 small vids on test I've conduct on april 17th.
All params are standards exept for the first quad where stab_xxx_P is reduced to 4.2.
Second quad with gopro inside.
Good flight all.
Olivier
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Permalink Reply by Chris on
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Hey Olivier
On your second Video i can see some wobbling, that my APM1 atm does too.
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Permalink Reply by Dave C on -
Those wobbles just look like a bit of tuning is required. Try reducing rate_P first. Then try adding in a bit of rate_I. Then try reducing stab_P.
Also you may try using rate_D instead of stab_D, depending on your frame it can make a big difference. You'll need small increments for rate_D, 0.002 at a time if you want to try this route.
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Permalink Reply by Olivier on
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Hey Chris,
There is some wobbling, I've flown default parameters that I should adapt a litlle bit.
For the fisrt quad I should reduce a litlle bit more StabP, and for the second I think stab_D will halp to remove woobles in descent.
Regards.
Olivier
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Permalink Reply by Fressinet Jean Louis on -
Nice vids Olivier ,were you at St Galmier ?
Jean Louis
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Permalink Reply by Olivier on
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Hi Jean Louis,
I'm close to saint chamond. But I'm flying a lot in Feurs or Roanne for F3A training.
Regards.
Olivier
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Permalink Reply by F5PQL on -
hi,
it will become the "french connection";-).
I fly the bird on Corba next to Lyon, I'm sure with a "very" good camera with both sides, we should be able to see;-)
I am in 2.5.4, for the quad and hexa with apm1. for now no crash ... I expected the APM2 for replace hexa's apm1
Jean-Luc
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Permalink Reply by Fressinet Jean Louis on
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Olivier we met several times at Denis's shop.
Ok for the multi rotor meeting just wait fro a better weather. I will bring an Hexa from Multikopter.de an other hexa with the Naza module then the quadri with the APM2 (still under tuning since over 3 weeks !!!).
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Permalink Reply by fred_fr on -
hello
we are 3 from lyon to make multirotor Multiwii and now DJI frame + APM2
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Permalink Reply by John Campen on -
This was my crash. i think the wobbling go-pro on the top of the quad made for a wobbly video and flight.. and crash .. apart from a few broken props nothing else got damaged. http://www.youtube.com/my_videos_edit?ns=1&video_id=mLwNCKKjcMs
Nice view of Kuala Lumpur. The twin towers are way off in the back ground, but hard to see. The apartment next to this site is where I live. On this clip of the hex it landed on a ditch at the end which I didn't see and why it flipped. http://www.youtube.com/watch?v=7Xm5DmQHk4Y
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