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!).
try Changing stab I to 0.002 to 0.015 range. I also have 3.800 on P and that with the 0.02 works well. You may even try P 3.400?
Mario On my hex I have Stab Roll/Pitch P 3.800 and I 0.002 and this is quit stable and solid. I think for many the Stab I 0.100 default is to high and they are recommending setting this at I 0.00 I see some are using Stab I 0.015. This is why I suggested try a rang between 0.002 to 0.015 range and see if that helps. Sorry my error before was not right I 0.02 where I meant I 0.002
Hi Mario, I have motors like that on my quad and they are very good and reliable, however, they are 930kv wich may lead to propeller stall with those 12x6. You should try 12x3.8. Also try to lower even further your STAB P to 3.5 and STAB D of 0.12 not touching the RATE P for now, just to see how it handles, also, put in a RATE D of 0.002. Wait for someone else's opinion also to see if it checks.
as you can see in the above image (my PID settings) the stabilize pitch D is zero and I've tried also stabilize pitch, roll =3.5 but the results is almost the same.
Do you suggest to increse the stabilize pitch D to 0.12 and reduce the rate pitch D to 0.002?
For the propeller, I made a bench test also with the 12x3.8 but I noted that the 12x6 develop greater thrust and higher efficiency.
I tested yesterday with the following PID value:
Rate_roll/Pitch left unchanged.
Now it flies very well, only a little bit nervous, I'll add little expo on the Pitch-roll.
Sorry, didn't received an email with your previous answer don't know why. The 12x6 may have better performance, but only at higher RPM, and they may be stalled for most of the time, since in hover you don't need too high RPM, getting your bird unstable, the 12x3.8 may have less efficiency but give you a more stable platform and also more smooth reactions since the volume of air bitten in each rotation is a lot less, so they will be more accurate :) Glad to see you're flying ok now, you may also want to try your RATE D at 0.001 and RATE I at 0.010 just to see if it responds better.
the red LED on my apm 1 not lit and the entire flight was so late. try to return home and not work. why not lit the red light? has passed several times
hello wilson, it often happens that the mini cable has bad connection, and the red LED not turn on. when it takes to give the sequence led to the beginning and only the yellow LED lights, it may be because of this. move the cable off and test apm.
if it is connected directly to the apm. the GPS has to connect without the mini cable.
hola wilson, suele suceder que el mini cable tiene mala coneccion , y el led rojo no encendia. cuando se tarda en dar la secuencia de led en el inicio y solo enciende el led amarillo, puede ser debido a esto. mueve el cable con el apm apagado y prueba.
si no trata de conectarlo directo al apm. el gps tiene para conectarlo sin el mini cable.
I did a test with 2.6 on my APM 2.
STAB great as ever, even indoors ;-)
But when I switch to Alt Hold, the quad descends each time hitting the ground.
I'm sure each time I switch I'm in stable hover.
When in AH and give a little bit of thust it stays at the desired altitude.
So I think my stab hover level doenst correspond to the hover level in AH.
Is this something to do within the code?
In previous version the APM seemed to rise in AH to about three meters before stopping. Now its the contrary.
Vincent, Yes the problem is within the code of 2.6 but only affecting some airframe set-ups.
I've been trying to eradicate it by tuning but that hasn't worked.
Latest attempt was to reduce min throttle in config.h from:
# define MINIMUM_THROTTLE 200 (as in ver 2.6)
# define MINIMUM_THROTTLE 130 (as in ver 2.55)
The result was it won't arm now!
Got a feeling it's to do with modified code (as well as) max/min defs.
Has Anybody got any idea what to alter in 2.6 to get 2.55 throttle range back and working?