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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DeveloperPermalink Reply by Randy on -
John,
We had one other person report this as well during testing but we were unable to determine the cause. Can you try going into the logs menu and erasing everything to see if that helps?
I.e. mission planner's terminal window, logs, erase
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Permalink Reply by John Campen on -
I found them!! looking in the wrong place of course!. Its now in C:\Program Files\APM Planner\logs
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Permalink Reply by Lloyd DeForrest on -
Same problem here. No logs with 2.6 - just two empty logs files where there should be one good log.
I've erased from the CLI logs menu and misson planner logs window. Reloaded and erase/resest 2.6 several times. Checked that logs are enabled in the code. Any other suggestions?
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Permalink Reply by Lloyd DeForrest on
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I got ogs working too - reoaded 2.5.4 and then 2.6 again but this time did not do an erase/reset - just loaded a saved param file.
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Permalink Reply by wilson javier madrid sossa on - Attachments:
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2012-06-20 19-11-33.tlog, 70 KB
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Permalink Reply by wilson javier madrid sossa on
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I do not understand, is only the information that is out.
I tell the cuadcopter him up and turn in a moment alone and went ashore
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DeveloperPermalink Reply by Randy on -
Wilson,
Here is a wiki page that describes how to download and look at your dataflash logs. These logs are stored on your APM while the tlogs are sent over the telemetry link in real-time from your APM to your mission planner. They have some duplicate data, I prefer dataflash logs but some people prefer the tlogs..
Anyway, I have had a look at your tlogs (i.e. telemetry logs) and it looks like your copter turned about 70 degrees as you took off? Below are two graphs, the first is of your yaw, the 2nd graph is of your roll (dark blue), pitch (green) and altitude (light blue).
By the way, I created these using the mission planner's "Flight Data", "Telemetry Logs", "Tlog > Kml or Graph" function. Anybody can do this.
It doesn't look like a catastrophic crash or anything. The turn makes me think that you have something incorrectly like an engine spinning the wrong direction or propellers on the wrong way or something like that. Maybe you can provide a video?
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Permalink Reply by wilson javier madrid sossa on
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this is what I hope to take if it is the flight log.
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2012-06-21 10-04 112.log, 125 KB
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Permalink Reply by Marc Puig Pasarrius on -
It's very weird, it doesn't show attitude RC input at all!!! Pitch, roll and yaw IN are always 0.
You were flying in acro mode, this is not the best mode to fly with (you have to stabilize the multirotor manually).
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Permalink Reply by wilson javier madrid sossa on
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he was flying in steady state mode. I hold up two meters and a left to the ground. as if an engine had stopped
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Permalink Reply by Marc Puig Pasarrius on
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You also have a lot of compass noise (I think this is happening to a lot of people, me included). It's a pity you don't have motor logs enabled. Are your motors connected with plugs or soldered direct to esc's?
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