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!).
Any decription available for the new LED modes somewhere? Which AN? has what function?
Not yet, I have to do one. Hopefully soon.
Ah, that makes sense then. Affirmative, LED_MODE is set to 9. Thanks.
Does it work now?
Or, it is set to 9, and you still get this behaviour?
It was already set to 9 with this behavior.
I made my update 2.6 on APM1 and when I connect I get the mission planner with errors and not be switched. I can help what happens.
this is what comes.
Mavlink 1.0 heartbeat, please upgrade your mission planner this planner is for mavlink 0.9
This is easy guys, just do what is says to do. Go to the Arduplane download page and download the 1.92 MP. When your give a choice of .9 or 1.0 chose 1.0 . It is that easy.
John and Wilson
Mike is right it is easier then I thought, you just click on "All programs" and go to the "AMP Planer" program and select "AMP Planer Mav 1.0".
Tried out 2.6 yesterday in Stab, Loiter and RTL.
My Hexcopter:APM1 2560, 1.5Kg , no sonar , with default parameters
1) Stab mode is OK
2) Loiter mode is bad , it always swing or circle with 1 - 2 meters . There was a light wind at the time.
Seems the MediaTek GPS update is somewhat lag.
3) RTL is ok , but the Alt Hold RTL parameter no matter how much I set the value , it always flew back at current height .
One time I flew at very low altitude then fliped RTL SW , it almost crashed to a bush .
"RTL is ok , but the Alt Hold RTL parameter no matter how much I set the value , it always flew back at current height ."
I noticed the same thing. My height was set to 12m, it just came back on the height that it was flying on before.
If you have wrong parameters in throttle/altitude hold section when the quad flew back it's too hard mantain the same altitude due the inclination.
First tune in flight this two section of parameters, then try RTL at min. 20 meteres of altitude.
99% of all the problems i've read here are related to bad tuning/setup.