ArduCopter 2.6 released!
Version 2.6 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Updates to MavLink 1.0 means you will need to use "ArdupilotMegaPlanner10.exe" to connect. If you've updated your mission planner recently you should find this executable in the directory where the mission planner is installed.
The above video is done using a prototype 3dr ublox GPS which seems to have better accuracy than the standard mediatek.
Improvements over 2.5.5 include:
- MavLink 1.0 support (use with ArdupilotMegaPlanner10.exe) [Tridge, Craig]
- Stability improvements especially during level hover [Jason]
- throttle range improvement (higher min and max) [Jason]
- improved standard Loiter PIDs [Alan, Heino, Jason, Angel]
- dataflash erase speed up ('+' messages removed but it only takes 6 seconds now) [Tridge]
- Copter LEDs [Robert Lefebvre]
- RTL loiter stage target set to home to improve final landing position [Jason]
- flip & acro improvements [Jason]
- circle mode target improvement for ground station [Jason]
- Auto Approach [Adam Rivera / Marco]
Bug fixes include:
- UBLOX driver fixes (lock should now be more reliable) [Tridge]
- enable mavlink messages during dataflash erase which resolves issue in which new APMs fresh from the factory appeared unresponsive [Tridge]
- proper printing of lat/lon values in dataflash logs [Randy]
- removed duplicate GPS reads [Jason]
- resolve flooding of telemetry link with low-battery warnings [Tridge]
- RTL bug would land if rtl_approach_alt was more than 1 [Jason]
- WP Radius could not be set larger than 1.3m [Jason/Randy]
Tuning:
PIDs are optimised for the 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props and are seeing bad flight behaviour in stabilize, start by turning down Rate Roll P in 25% steps.
This time we spent some time optimising the loiter PIDs. Tuning loiter can be tricky so please refer to the discussions which will appear below for more community feedback on what parameters work best.
All feedback welcome below. Enhancement requests and bug reports can be put into 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 2.6 but tell us anyway!).
Happy flying!
Replies to This Discussion
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DistributorPermalink Reply by Dany Thivierge on -
So far really like the fact that we dont need to wait 45 sec + on initial firmware installation. Formatting the memory card is way faster (or not done) but result if perfect. Board comes alive (red/blue happy flash) right after the waiting period (timer).
This will reduce a lot of calls where people try to connect right after the initial firmware installation and not getting a heartbeat. Thanks guys!
Oh and Randy you should tell people what will happen if they are still using mavlink 0.9 (regular MP executable) is it bad? will they have to redo the setup?
If it is there should be a check in MP when trying to push 2.6 to say please use other executable...
Let us know!
Dany
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Permalink Reply by Jonathan M on -
I must have missed this one.. how do I use mavlink 1.0? I am apparently using 0.9
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DistributorPermalink Reply by Dany Thivierge on -
use "ArdupilotMegaPlanner10.exe" instead of the "default" one. It is in your MP directory.
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Permalink Reply by wilson javier madrid sossa on -
Hi I have problems connecting my apm 1 to mission planer not find how to use the mavlink 1.0. peudes give me help find it? thank you very much
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Permalink Reply by Michael Pursifull on -
C:\Windows\Program Files(x86)\APMPlanner\ArduPilotMegaPlanner10.exe
Or something like that. Comprendes?
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DistributorPermalink Reply by Dany Thivierge on -
one more thing... what happened to the ARMED/DISARMED message in the Mission planner?
Gone? I can arm and disarm (A LED solid for Armed as usual, blinking for not) but MP is not telling me where it used to do it... right in the horizon display... strange....
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DeveloperPermalink Reply by Randy on -
Dany,
Yes, indeed, i just noticed that message is missing as well actually. I'll chat with Michael O about that. It's certainly related to the mavlink upgrade but I'm unsure if it's the APM not sending the message or the mission planner ignoring it. The motors to arm/disarm properly so it's a display issue. Txs for the report, we will sort thatout.
In case you want to track this bug, I've raised an issue here.
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3D RoboticsPermalink Reply by Chris Anderson on -
Thanks, Dany. The Mission Planner will alert you if you need to upgrade to the version that supports MAVLink 1.0. An icon for the 1.0 version is automatically installed if you use the new Installation utility.
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Permalink Reply by Brad Hughey on -
It sounds like a wonderful set of enhancements! Great Job. I do have a question...
I'm using an APM 1.4 with the 3DR Xbee kit. Other than upgrading the planner host software (run the ...10.exe) and uploading the new APM 2.6 code, is there anything else I need to do to get to MAVlink 1.0 support working?
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DeveloperPermalink Reply by Andreas M. Antonopoulos on -
No, that's it. The APM software is 1.0, and the Mission Planner will detect and ask you to run the 1.0 (if you haven't already).
You can tell the difference in the MAVLINK messages. They used to be a bunch of characters with "U" at the beginning. Now, I get "Q" as the first repeating character. That's the new MAVLInk I believe
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Permalink Reply by ultrojo on -
- throttle range improvement (higher min and max) [Jason]
is that meant support for ultrapwm (min throtle 200us) ?
i just remove xaircraft stock esc, and replace turnigy 18a plush.
my quad is x650 XA frame., stock motor,18a esc, 3s
anyone have same setup, use 2.5.5 version, crash many time when change loiter in strong wind,
- glad to hear 2.6 release.
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