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!).
Hi nice video i am just about to add my APM2 to my X650 :-) just have to work out how to mount it?
at the end of the video were did the quad go?? as it looks as if it went way past your filming position?
Loiter & Manual Landing
RTL & Manual Landing
i realised that i landing smoothly because new firmware have throtle management . is that true? when i throtled down, feel that the quad descending slowly and smooth.
and i dont like circle after RTL reached. how to change loiter mode after RTL reached their point?
you will see, the traction kite guys with me asking about your apm2 :)
i mounting my apm2..
One more time then...
DO NOT TRY TO LAND WHILST IN ALT-HOLD/LOITER!!!!
You can ascend or decent, but loiter and alt-hold are for use IN THE AIR!!!!!
If for example you touch the ground in alt_Hold and the ground is not level, the copter will try to level itself and therefore probably flip since its not flying anymore and you have fouled at least one of its feet on the ground!!!
If you have to land in loiter or alt_HOLD (accident or emergency) you MUST switch to STAB or ACRO immediately to prevent the motors/APM spinniing and trying to level.
Hi Dave C,
thanks for your advice,
i never landing without STAB mode,
after loiter/RTL my finger switch STAB mode before doing manual landing.. :)
@Yovio, do you think that may have been your problem? an attempted landing in Alt_hold?
Otherwise we could do with looking more into this :)
"i realised that i landing smoothly because new firmware have throtle management . is that true? when i throtled down, feel that the quad descending slowly and smooth"
Yes for alt_hold and loiter modes, but in stab or acro if you take throttle to zero it will cut the power.
However, on a tangent - and after a glass or two - one of the best way to judge how well tuned your frame is is to do a fast vertical decent in stab. Since you are decending in your own downwash it cause aerodynamic haywire for the APM, esp as it has reduced power to play with for compensation.
I'm thinking your 'throttle management' might just mean 'better standard params' though i may be wrong.
If my tri will fall vertically and flat at about 10m/sec and 25% throttle, and then stay level when i blip throttle to avoid terra firma i usually decide its time to get the goggles out ;)
Also regarding the circle after RTL, this is because your quad has entered LOITER and your loiter need tuning!
You can either choose to autoland or auto approach (loiter at home position) in the mission planner. AUTOland will land the quad rather than subjecting it to your 'circling' loiter params.
Also you can enable retro loiter, but i suggest you re-read the WIKI and some of the 2.5 thread first ;)
it would be you have the kindness post your parameters I have one similar but with apm 1.4, 1.650Kg
use default pid 2.6 but update litle bid..
i still tuning it. still not satisfied , some time loiter stay well sometimes loiter circling..(all tested in strong wind condition)
does the new version of MP still require Net framework 3.5? One a new laptop I'm having trouble installing UARTS and the ports aren't showing up in MP Also the arm and disarm text is missing
Wow what a great release. I'm coming from previous MP released version which was already very nice but this is rock solid to fly. I've tried all the auto functions and it works perfect. I'm using 3DR stock frame, standard motors and 10" carbon reinforced props (makes big difference) and jani gopro mount, 3300, 5000 or 6000mAH 4S battery, APM2, xBee900MHz, Castle 10A BEC and soon to install sonar. Great work everyone. Thanks!
+1 on the props,
I use crap ones, for economies sake, to test indoors when its raining. I tune to a certain level (just pre oscillation...)
Then once I swap for better props I can usually tighten things up by 10% or so (i.e increase rate_P and D, and yaw_P before the 'wags' set in again.
I'm presuming this is due to some of the oscillation occurring as the cheap props flex about, so stiff props are better for performance. But they don't agree with table legs or door frames.