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]
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!).
There is an idea I like, I'm on the possibility of placing two sensors Pressure in the skates, and as fit only in the auto landing.
it may adapt something?
wow yes!! this could also initiate a power kill for not only landing but also for flip overs to reduce prop and motor damage. How would you suggest to connect it to the APM?
Autolanding with hexa/y6/octo/x8 is not recommended (imho), instead use autoapproach.
If the quad is pretty big bounces are obvious, autoapproach allows you to bring the quad in front of you and to land safely manually.
With Mikrokopter and Wookong the same thing happens, the only advantage is that these systems having amazing position hold and the descent does not make any drift, so the quad is difficult to flip at the ground because don't drift when touch.
Is the Optical Flow Sensor already supported in 2.6?
Been away for a while and just had my first flight with 2.6 on an old 1280. Planner 1.1.92
Great work team stabilize was impressive.
Noticed a couple of things though.
1. Everything up to 2.5.5, I could make fit by defining MTK16. This is the first time I have had to disable CLI, so I couldn't find a way to do an erase and reset in the planner. Had to reload 2.5.5, erase, then load 2.6 and do setup. Did I miss something obvious somewhere?
2. Now here is the weird one. With the Define GPS MTK16 line in place, the planner would only report 3D lock over USB. Over xbee it just said NO GPS. Removing the MTK16 line fixed it all up. I would like to still use the MTK16 in the Config.h for when the code starts to expand again in the future. Like a lot of people, I'm on a tight budget and would like to milk the 1280 as long as possible.
Can you describe what you did to fit 1.6 on an APM1 1280?
I bit the bullet, and bought a 2560 board from Sparkfun, flew the quad around in a small garden, seems very stable, again :-)
I don't see any of the yaw issues some are reporting either.
Thanks John !
Logging, cam stab, does that take a lot of space, can it be disabled safely ?
1.6 seems to achieve most of the original goals aimed for, when I started with this hardware more than a year ago.
Huge waste, to just dump the present APM1......
John beat me to it whilst I was sleeping. No need to disable logging as this is done automatically when you select 1280 as the board in Arduino IDE. Another line for the config.h is #define GPS_PROTOCOL GPS_PROTOCOL_MTK16, saves another 5.9k.
Unfortunately it gives the problems I had above even though it compiles fine. I don't know when it was last working as I haven't flown since about 2.2. When I used this line in 2.5.5 I only got as far as doing setup over USB, never went flying which is why I didn't see it earlier.
It has been listed as issue #392 back on 16/3/2012 and looks like it affects ublox as well.
It would be nice if someone smarter than me could take a look at this as there is only 3.17k left on the 1280
Hi Gordon and others,
I managed to squeeze 2.6 on to my 1280 yesterday, disabled CLI, logging and defined MTK16, but had immediate problems getting the motors to arm.
Mission planner showed that rc was setup properly, had all channels connected and responding correctly, 6 modes saved and changing on flight data screen.
But the rc connection seemed to be intermittent, and once the motors were armed the throttle responded very eratically, with the motors surging to full power, then stopping entirely at random.
Also although I had full GPS lock, the flight data screen seemed to be in delay, but did eventually show 3D lock. The red LED on the APM was not lit solid as it normally does when GPS lock is achieved.
Reverted back to software 1.0.49 and everything works fine again.
Does anyone have any ideas or suggestions please?
I also tried to get 1.6 into the 1280 board, prior to this thread, no luck.
Neither with 1.5, which at the time tipped my hand to get a 2560 board from Sparkfun.
Just on two weeks later, after tax here, I had the board, for about $65.
Oh well, the 1280 board is going to be a superduper Arduino now :-)