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!).
What does exactly "Copter LEDs" means? I mean, I know what LEDs are :). Just wondering if it had some standard hookup diagram and/or sequence.
Or has this code been included into the "core" (http://diydrones.com/profiles/blogs/u4eake-s-showleds-arming-and-lo...)
Robert Lefebvre has ported and consolidated various LED code bits and it is all now in the "core". Here's the relevant section in the code:
|// Copter LEDS by Robert Lefebvre
|// Based on the work of U4eake, Bill Sanford, Max Levine, and Oliver
|// g.copter_leds_mode controls the copter leds function via bitmath
|// Zeroeth bit turns motor leds on and off: 00000001
|// First bit turns GPS function on and off: 00000010
|// Second bit turns Aux function on and off: 00000100
|// Third bit turns on Beeper (legacy Piezo) function: 00001000
|// Fourth bit toggles between Fast Flash or Oscillate on Low Battery: 00010000 (0) does Fast Flash, (1) does Oscillate
|// Fifth bit causes motor LEDs to Nav Blink: 00100000
|// Sixth bit causes GPS LEDs to Nav Blink: 01000000
|// This code is written in order to be backwards compatible with the old Motor_LEDS code
|// I hope to include at least some of the Show_LEDS code in the future
|// copter_leds_GPS_blink controls the blinking of the GPS LEDS
|// copter_leds_motor_blink controls the blinking of the motor LEDS
|// Piezo Code and beeps once on Startup to verify operation
|// Piezo Enables Tone on reaching low battery or current alert
Power comsumption is always a problem. When you add LED stripes you'll have to analyze correctlly if you have the necessary amps to power it up without disrupting the APM. Most LED stripes are 12v and there are also some 5v, however I came across an alternative wich seems to me very very good. It consumes a lot less power, and gives a "neon like" effect. During the day it will be hard to see but at night I think it will be wonderfull. I've been opening one of them and the electronics is very simple. I will try to put it in my hexa and let you know how it went. 2 small very bright LED per circuit, powered by a cr2032 3V battery and a piece of transparent silicone flexible tube :D http://www.ebay.co.uk/itm/260759349970?var=560026434652&ssPageN...
check in here if you'd like to try some
After upgrading from 2.5.5 to 2.6 I can't see the remaining battery percent in Mission Planner correct anymore. This is with Attopilot 90A volt and current sensor and APM2. It starts at 23% and end at 10%. Never start at 100% as before. "Status" display in Mission planer also tells "battery_remain 0,230". Volt is displayed correct. Anyone else have this same problem? Suggestions? I tried to load back firmware 2.5.5 and it was ok again. And same problem when going back to 2.6.
Today I got loiter mode to work well! This has never worked on my standard 3DR frame before! This was with stock 2.6 parameters. Problem was disturbance of compass and gps.
Yesterday I aligned the model straight north by comparing with a compass. In Missionplanner I could see the compass was not heading north. After several compass-learn flights I saw the offset-parameters were different each time.
I decided to move APM2 from bottom plate on frame and up to next floor in the stack to get distance from power wires. After a compass-learn flight 3DR Quadrocopter now loiter nice. I also get much faster 3D fix at the GPS. I know placing APM2 sensor out of center can have negative effects also but getting loiter to work is great!
Thank you for your work all developers and contributers!
I have a problem with GPS wander which shows up when hooked up to a laptop in the flight data window.
Sometimes GPS show is correct, but usually over time it will wander around up to several hundred feet form its actual position, sometimes stopping, sometimes just continuing to wander.
Your experience certainly makes me wonder if sitting right over power distribution board could be a problem.
I am going to try additional spacing and probably a grounded sheet of copper between the APM2 and the Power Dist board.
I will post results.
Added Aluminum tape on intermediate fiberglass board between Power Dist board and APM (covered also with acrylic tape) and preliminary results are encouraging.
First sub 2 minute GPS lock ever (5-10 normal).
Too windy to fly right now, but so far it definitely seems to have improved things.
More to come.
From what Iv"e seen, 2.6 has a few issues, bet your working on 2.6.1 as I speak.
Can you please make this an "issue" (bug report)?
If you can replicate the problem in 2.6, but it works in 2.5.5, please document the issue so we can fix it.
The battery remaining issue is that the scaling with Mavlink 0.9 was 1000=100%, whereas with Mavlink 1.0 it is 100=100%. The AC code wasn't updated, so overflows the 8 bit parameter provided (was a 16 bit value in mavlink 0.9). I raised it as an issue yesterday.
If you are working with the source code, check GCSMavlink.pde and search for 1000. It will be clear what needs to change (sorry, don't have the code in front of me). However, if you make the change, you will find that the mission planner starts showing 10% and counts down 1% for every 10% of usage. A fix will likely need coordinated changes in the AC code and the mission planner.
i had also the same issue today, uncorrect battery life percent status. It starts from %23 even i tried to change capacity of battery in mission planner. Is there a way to fix this bug?
I also am only getting a reading of 23%, have you found a fix for this as yet?
With arducopter 2.5.5 I managed to read Analog Pin A7, with Arducopter 2.6 impossible to read Analog Pin from A9 to A4.
I need at least one Analog Pin to get RSSI informations, and with Arducopter 2.6, it's actually impossible
hm...i can't think of anything that we've changed between 2.5.5 and 2.6 that would stop that from working. Can you be more specific about what code you're adding and where? Presumably you're using an APM2?