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've done the same but haven't tested yet. However I've noticed under the parameter list is says THR_MIN is 0, should I be setting that to 120 as well or is this parameter ignored?
in v2.6 as far as i can tell it is ignored, in source this has been changed so i expect it will be active in the next minor version.
Hans, Just run on default parameters.
After changing config.h exactly as described above, after compiling and uploading and resetting Tx I now had Only one speed = almost full throttle! from min to max stick so be careful! Hold the Copter down while testing throttle for the first time.
I found that you must now go into Mission planner cli and type the three commands(separately)
Now setup as normal in m planner
enable hardware (sonar for example)
Enter mag dec
select switch mode options.
Now check that throttle is now behaving, if so do a quick hover in stabilize mode land disarm, rearm, go test out AH & L
You do this at your own risk, mine is now working perfectly, in no wind alt-hold was basically stationary regards alt.
Loiter is just nice to watch, gently swaying within about a 3~4 ft box. Turned it 90 deg to point east and tried loiter again and this time it was motionless. My sonar isn't working but this is a different issue...
I also switched minimum throttle to 120 in the config file and switched the APM 1 reference to APM 2 in the source.
Did a setup - erase in the CLI (dont forget the 3 returns to get into cli mode for the APM2).
Compiled and Loaded the modified Arducopter 2.6 via the Relaxed-Arduino upload.
Redid the transmitter limits, set up the compass dec, reinstalled the modes I wanted and leveled it.
Left the PIDs where they were.
On first test Stabilize was all over the place.
Several iterations of redoing PIDs left me with PIDs very similar to those I was using prior to version 2.6. I also set the transmitter to flatten the middle part of the throttle slope on my transmitter a bit (previously it was the first part of the slope). I also ended up doing an ESC auto recalibrate before I was done.
Alt Hold entry Drop problem is gone, throttle is much more progressive and take off - hover is nearer middle of stick range rather than being barely above full throttle stick off.
Also don't need to perform alt hold throttle corrections, so throttle doesn't end up completely screwed up when switching back to Stabilize.
The problem, I suspect, with making minimum throttle user adjustable is that it seems like every adjustment would require adjusting all PIDs.
Possibly a better solution would be to just have 3 or 4 user switchable factory settings.
Clearly, 200 was not a good setting for those of us with more responsive Multicopters.
Jason Short has now updated the current copy of Arducopter 2.6 to have Minimum throttle set to 130. (where it was before).
I have uploaded and tested this.
I only needed to set the angular rate PID P down from stock 0.180 down to 0.080 to get an acceptable stabilize for my KK quadcopter and Alt Hold is a good start out of the box.
This is about the same ang rate PID P I used in 2.5 as well.
There is no more drop going into alt hold and throttle range is much more acceptable.
With the USB connected to the APM in the Mission Planner, from the Terminal tab. For an APM2 type the Enter key 3 times then type setup (Enter key) and erase (Enter key).
Then in the Firmware tab load the new Arducopter 2.6.
Then in the Configure tab recalibrate your radio, reset your flight modes, enter your compass declination, level your copter and change any default PIDs you need to (especially the angular rate PID P value).
If you are using a throttle curve on your transmitter, the flat part will need to be moved up a bit on the throttle.
Jason also said that Minimum Throttle will become a user settable feature within a week or so.
just to let everyone know my experience with the throttle max/min problems and altitude hold.
i finally had time to fly yesterday with minimum defined as 150 and maximum 950. altitude hold problems are gone, absolutely no problem maintaining a hover and i have a nice range for climbing and descending.
Flat Hexa - 880kv jDrones motors - APC 12x3.8
AUW 2Kg (no load) and 2.4Kg worked perfectly.
WOW I’m sure glad I saw this before upgrading my Y6. It flies very will on 2.5.5 and I don’t want 2.6 to crash it for me. Maybe I had better wait for the next firmware update.
Any news on when 2.6.1 will be out?
Yes this is odd... I don't have this problem with my Y6.
That's quite weird. There were some throttle changes in 2.6 vs 2.5.5 which you've probably read a out in this thread .. it has caused some people problems but not in the way you describe.
...an engine stops when the throttle is too high...like your original guess, it seems much more likely to me that it's an ESC or motor problem. It seems like if the little peaks of the PWM signal become too wide the ESC can't see them.
Could you try reducing the RC_SPEED parameter from 490 down to something like 350 to see if that helps?
Thanks I will give that a try! as well as test the ESC & motor agen.
I notised that the motor started & stoped when I move the right stick to the right. the motor would start then stop move the yaw to the right as well