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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Permalink Reply by Michael Pursifull on -
Oh, Dave, I had a question for you, something I wasn't clear about.... how do you feel about landing while in Alt_Hold? ;)
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Permalink Reply by John Campen on -
where did you buy the carbon reinforced props from?
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Permalink Reply by steve F11music.com on -
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Permalink Reply by Bruce Jones on -
Is there any documentation for using CopterLEDs? I do know about U4eake's showleds blot entry, just wondering if there's anything more current for the 2.6 release. Like which pins to use and how to control it.
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ModeratorPermalink Reply by Dean Wynton on -
Hi Bruce..
It depends what you wish the LEDs to do? there are a few modes? I am not sure if Mr Lefebvre has put a wiki somewhere? If he reads this? I am sure he will point you in the right direction...
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Permalink Reply by Bruce Jones on
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Yep, would love to know just what I can do with it. I've got some LEDs now that are on all the time. I'd love to make them a bit more intelligent or at least entertaining.
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Permalink Reply by Michael Pursifull on
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Guys, just be careful not to draw too much current through the boards. It's easy to do with some of the LED strips or some of the more powerful LEDs available today. Consider the APM, telemetry, servo, rx requirements and add one too many LEDs can lead to A loss of controlled flight and possibly a remedial course in the electrical fuse :) when that happens to a diode on your APM, you'll be wishing you'd done the math before adding the bling. ~_^
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Permalink Reply by Knut Graf on -
Mike,
How much is too much current ?
The BEC delivering the current to the board has a limit (2 Amp for 3dr / 20 Amp ESC).
Does the APM board itself have a limit too ?
I think I encountered this problem, but with a servo, not an LED.
Thank you,
Knut
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Permalink Reply by Michael Pursifull on
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I'm afraid the answer is: it depends
There are different boards - APM, APM2
Each board has more than one way to power it, and each way to power it can handle different voltages and different amounts of current.
I think you mentioned APM2 in another post, so let's talk about that one.
[From http://code.google.com/p/ardupilot-mega/wiki/APM2board]
"Therefore, power requirements are as follows: 5.0VDC +/- 0.5V supplied into the PWM input connector, jumper JP-1 removed. 5.37VDC +/- 0.5v supplied into the PWM output connector, jumper JP-1 in place"
"APM2 by itself draws relatively little current (200ma range)"
The same page suggests that the board is well within design specification if your total draw is 500mA, so that gives you at least 300mA to handle the telemetry, RX, and servos before you add LEDs.
That page does not list the maximum current allowed.
But there is more information at http://diydrones.com/forum/topics/problem-with-apm2-powering-up-my-... and Craig Elder's comments are the most helpful.
So that means something like:
APM2 with JP1 - 500mA max
revised APM2 (soon) with JP1 - 1A max (and better circuit protection against shorting the input pins; a fuse to prevent blowing the diode)
Remove JP1 and power input and output rails separately - I don't know... I need to look at the schematics. But if 500mA is not enough, you almost certainly want to do this
There are folks here who are much more qualified to answer this question than me :)
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Permalink Reply by Knut Graf on
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Thanks you, Mike. I had been reading the wiki page, but hadn't see the other thread. I currently have power through the output rail & diode.
The 300mA total headroom don't look like much to me to accommodate a digital servo, so I think I'll change to powering the board on the input / receiver side, separately from the output side. I also just ordered a decent BEC.
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Permalink Reply by James on
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ive had trouble today with altitude hold in loiter - the first switch to loiter resulted in dropping out of the air (not quite like a stone, but close). further attempts with no change in parameters in a few cases worked, but usually caused a climb or a descent.
i wonder if it might be related to TRIM_THROTTLE as i have seen some very different values between flights - now its at 430 which is pretty normal, but i saw it as low as ~380 earlier. could it be taking the average over too short a period?
anybody else seen this? as yesterday i didnt have this problem and everything else is perfect. attached log with "stone drop" and climbing loiters.
james
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2012-06-16 20-46 3.log, 857 KB
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