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!).
Mike: that's out of date--I'll have the team correct it. The sensor is now fully supported on APM 2.
I'm playing around exploring the aerobatic potential of my quad - flip-rolls and flip-loops are now fairly easy to do (thanks Duran for the method).
What would be helpful now is a mode where only the gyro's are used (ie ACRO MODE) at full Tx stick deflection and gyro's and accelerometers (ie STABILIZE) used with no stick deflection or small stick deflections.
This way STABILIZE mode and the security that comes with it are used with small stick movements but powered flip-rolls and flip-loops can be performed with full stick movements.
I can probably mix this in with my Tx (Hitec Aurora 9) but it would be awesome if APM2 could do it itself! (if it's even possible?)
How could the code be modified to add this extra mode?
I do not understand this complication, uses ACRO to make aggressive maneuvers and switch to Stabilize at the end of various flip / roll / loop for put your quad levelled... :-)
There's a couple of problems with that: 1) there's a delay when switching, perhaps 200ms or so, enough to make it uncomfortable. 2) my fingers are busy flying the quad, I have no to time to switch modes just before and just after the manoeuvre 3) it limits what you can do as you have to be switching a switch on and off all the time so no fun and not practical at all.
If you try it you'll see it's not easy at all
Agreed, but if you are trying to flip/roll/spin and multicopter then you need serious flying skills, to ensure a non-crash. The apm can bail you out with a flick of a switch, but that's not primarily what it does. A $10kk board on a $100 frame will flip like crazy, but it won't come home when you tell it.
If i want scary and 'skill enhancing' i go kk/Mwii, and add the Nav boards/sensors if you want to play around with RTL etc, but if i want full on- all-round performance, with a DIY interest i go APM everytime.
Has anyone seem a wookong flip yet? ;)
Yes Dave, Wookong around the world ultimately make some flip, but not required... :-)
I would at least do the mixing first. Never messed with hitec, but that sort of mixing is not uncommon.This way you can offer good starting switchover points if/when it does get added to code.
And going with this line of thought I plan on working out an auto altitude hold mode (sonic) based on throttle position. For this I would like to tie in an output to an led as well.
Oh, and I second that trying to hunt out switches while flying aggresively is not fun.
I think this would be virtually impossible to code, unfortunately. Because even situations like... you're doing a high rate flip in a certain direction, and then you decide to flip the other way (say, a Tic-toc like manoever), as you are moving the stick across the center point, the quad will try to level instead of following your commands.
Or, lets say you're trying to do something like a Hammerhead stall turn. After pulling vertical, you let go of the stick to do the rotation over the top, but instead, it levels out, not what you wanted... It's just makes a big mess.
It would be very hard to code with extremely limited usability.
Anyone has a solution to operate on the piezo AN5 on APM1 , it works very well on the APM2 but not on APM1 ...
It should be working still, what is the issue?
On two APM1 not works, only on my APM2, the 3 are connected on AN5
I upgraded to 2.6 and new mission planner, but now I cant actually erase my APM logs and it wont make new ones.
Didn't erase them properly before upgrading and now it shows 71 log files but will only show them as one big file on a CLI dump, and they cannot be accessed individually or erased. If you type erase it says no Logs but when you dump it, it is still there and when you fly the quad no new log files are recorded.
APM2 Log memory appears full and I don't know how to clear it.
CLI Log Erase doesn't clear it even though it says it has.
I tried loading the old Mission Planner and the 2.5.5 Arducopter, but the mission planner only gives you the option of loading 2.6 firmware. Of course the old Mission Planner will also not connect to the APM because it is .9 MavLink.
Greatly appreciate any help.