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!).
I wish I had a working copter.. jesus. I can't even find out if there is still a wait on the fully assembled (non-gps) APM2 boards from 3dr, which I need to know before I order since I will be leaving the country for Canada in 3 weeks, and don't want it to turn up here a week after I leave.
My main problem with your yaw controller wasn't that it was slow, but that it turned a constant yaw motion (yaw stick right across) into several jumpy movements. Eg if I held the yaw stick full across, it would turn about 50 degrees, pause slightly, turn another 50 degrees, pause slightly etc.
Unfortunately I can't help with any more logs until I get a replacement board.
I've just emailed Dave some code to try which will hopefully help all this. I'm actively working on the yaw control. I'm going to fix it. It's just a matter of time at this point.
Your log though, it's pretty weird.
I'm using the final release 2.6 but I'm using Robert's yaw controlo code since I don't need agressive yaw maneuvers and I like it very much, it's very precise even if it's a bit slower.
Dean, if you are using 2.6D, then I believe you have my yaw controller.
It's possible to use the official 2.6 release, and my yaw code together, if you add this line to APM_Config:
#define ALTERNATIVE_YAW_MODE ENABLED
In the mean time, what I'm working on is currently here:
That's my personal clone of APM, YawControl branch, where I'm playing around. Hopefully DaveC is going to try it soon. This hasn't been flown by anybody yet, and contains some radical stuff, like gain scheduling.
I'll test that today, thanks Rob.
Glenn, hopefully your new APM will arrive soon, and pleased that we are not all in possession of such flakiness :P
I remember you once wrote something about 'just tying my motors on with cable ties'.
Not a good place to start when you are flying a potentially very dangerous bit of kit (esp if you can control the yaw)
Anyway don't despair, I'm sure you will be able to get an APM shipped to Canada, eh Danny!! :)
Thanks Dave... many great things were built with zip ties! I think this way of mounting the motors is easily as solid as they were on the previous motor mounts that came with the delrin kit which just sandwiched the arm between delrin plates which were fastened with nylon screws which had a habit of stripping their nuts.
I think there's much more danger of failure of cheap props, cheap chinese motors (had a dt750 go this evening which looks like a magnet has come loose inside) and so on.
One day I'll get a reliable platform going... Have just transplanted the multiwii onto my 4s tri and will get some flying in with it like this until I figure out another APM or alternative. The multiwii does feel great just to fly compared so far though!
Glenn, you in Canada? Ontario?
New Zealand, soon to be Vancouver for a bit.
Or of course we could just design a mag/gps unit that's suspended a few inches above the whole power plasma-dome... on a stick maybe.
I say we colour it purple and white :)
:EDIT I defo responded to a different post, what's up with this board?
Glenn, unfortunately a "props off" test doesn't tell you anything. If the motors don't have a load on them, they won't draw anywhere near your normal flying current. It is precisely this operating current magnitude which generates the spurious magnetic field(s) which are the proximal cause of the interference.
To do this the right way, you need a solid, immoveable test fixture, preferably made from a non-magnetic material, which can hold your multicopter in a safe position at full throttle. That is really the only way to recreate the proper magnetic environment in which your craft flies.
P.S. I posted this before reading the balance of the replies, which are more precise in context. Still, please understand that the magnetic fields from the power lines are directly proportional to the current flowing through them. No props = little current.
I feel the same way; to that end, I have purchased a DJI NAZA and am awaiting the GPS module. I believe that some future incarnation of APM2 could even outperform the Wookong M or even their Ace One, but this is a long way off.
I was really disappointed to see the highly vaunted 2.6 firmware is still causing the same old problems for many while others can get it to work fine. It now appears from this thread that there needs to be some isolation from the electrical noise from the ESC and motors. DJI mounts the compass and GPS well above the noise, which, no doubt, contributes to its stability.
Another concern is that it appears to get any kind of accuracy, I am going to have to wait for the new UBLOX GPS and spend even more money, if it can even be made to work on my current APM2.
Since my purpose is to use my multi-rotors for AP, I do not have the time to incessantly tinker with it, nor spend hours every week following the threads in order to make it fly.
While I believe the good folks at DIYDrones will eventually get it working, I have no faith in the current design and may revisit the product at some future date.
That said, I have an APM2 and 3DRadio kit for sale. Interested parties may send me a PM.