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
-
Permalink Reply by Mike Mac on -
I just upgraded my Y6 this morning using the Mission Planner. It said that I was loading 2.5.5. When I go to the Terminal tab it says 2.5.3. Did you forgot to change the display version number or do I still have 2.5.3 loaded? I want to make sure I have the correct firmware before I attempt to fly – please help.
-
Permalink Reply by Alex on -
If your board had the scaling issue, fly with caution on 2.5.5, I have 2 broken props and I was careful! You will need all new PID values.
-
Permalink Reply by Dave C on -
Could you elaborate a bit Alex, please? Which PIDs have you had to change? Do you know what caused you to crash? Which air frame are you flying?
-
Permalink Reply by Alex on
-
Dave,
I'm flying a DIY tricopter. It makes sense that the PIDs will need to change since the sensor signals generate the error term which is multiplied by the Kp, Ki terms to determine the ESC outputs. If the sensor signals are reduced by half by the new scaling in 2.5.5, the PID terms will likely need to be doubled to compensate (I'm assuming this, but I haven't looked at the code to see what the correction was).
I left my PIDs alone and it felt OK in my hand, so I lifted off 2 inches in ACRO mode to check, props hit the ground. It's no biggie to me, my props are <$1 each, but others with $$$ airframes should be careful.
-
Permalink Reply by Dave C on
-
Thanks Alex that's a good point, I stuck to the same params on a DIY tri from 2.5.4 to 2.5.5 and all seemed pretty much the same, didn't try acro mode though, I'll give it a go when i have more space...
-
ModeratorPermalink Reply by Dean Wynton on -
You mean when it stops raining?, might be a long wait, just checked the monthly forcast and it reckons much of the same for the next month :(
-
Permalink Reply by Dave C on
-
Sunshine! Yee haa!
And I've been flying my tri about in acro - in a 3*3 garden!!! Then nose-in hovering in stab. It's making me a better pilot this APM :)
-
Permalink Reply by Mike Mac on
-
I just tried it again Y6 load again and this is what I got.
V2.5.3
Free Ram: 3455
FW Ver: 117
Has anyone successfully upgraded Y6 firmware using the APM Planner?
????????
-
Permalink Reply by Emin Bu on
-
did you erase EPROM(terminal window - 3x enter - erase) before uploading new code?
-
Permalink Reply by Mike Mac on
-
It’s fixed now. Looks like the Mission Planner was pointing to the old Y6 file and now it has been changed to point to the correct file. I loaded it this morning and will fly it in the next day or two.
-
Permalink Reply by Mike Mac on
-
I think that I found a glitch in the V2.5.5 Y6 firmware. I have a continual throttle glitch that causes my Y6 to surge up. I have tried everything, changed BECs, changed radios, changes ESCs. I finally took the board out of my quad and it does the same thing. This is a typical short flight.
All motors surge the same so it’s not causing a crash but it is definitely scary.
- Attachments:
-
-
2012-05-17 15-14-12.tlog, 258 KB -
AMP2 Glitch.psd, 1.1 MB
-
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
ArduPlane User Group
677 members
-
ArduCopter User Group
1284 members
-
Moderators
24 members
-
Queensland
4 members
-
Taiwan ROC ArduPilot Gro…
8 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
