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 still have an issue with GPS... I get a solid blue light on the GPS Unit, but the mission planner (connected via Xbee) does not pick up GPS signal. 0 satcount, but solid blue light... My GPS location does not show on the mission planner.
I am running APM1 with 2.6 (modified for octo quad)
Any help would be appreciated.
i occasionally have this problem and in my case i suspect the cable is the cause. whenever this occurs i power down APM, reseat the GPS cable, and start it up again. as far as i can tell this solves the problem pretty much every time.
Thanks I will do another inspection
Exactly the same problem I occasionally have. Solid blue but zero sats reported in MP. I unplug main power and reset gps connector and restart. Solves it maybe 100% of the time but I'm not sure if the problem was the cable. Have to test if a restart is all that is correcting it. I'm using latest arduplane code. Haven't noticed the problem on my quad but it might be because I'm flying it less often.
Just an update on my needing forward trim in Acro mode but not in level mode. I solved the problem by recalibrating the rear motor ESC high end to 82% this makes it run faster at any throttle setting. It didn't change level mode at all.
Wow, that's an ugly fix ;) Hope it will not go forward or shake at WOT. Does it ? Increasing the pitch rate I did help a bit or was completely ineffective ?My tri may have a CG very forward when adding some batteries for "long duration" flights, but it still does maintain the desired angle in acro mode. I hope yours will not go nuts if you change the CG.
I was flying it around today and it seems fine. I tried a few full throttle punch outs as well and it went straight up. It is quite windy today and Acro is OK in the wind but level mode needs some tuning it was rocking some. I had 10 inch props on it as well and it seems to like 9 inch better.
Robert, I have the exact same issue as you, and I think it's really CG sensitive. My CG is slightly aft right now, and i get that rotation in acro mode. I currently run with no rate_i, but i may try adding some.
What’s the LED_MODE parameter? I noticed that on 2.5 the default is 0 and on 2.6 it’s 9?
I think the LED_MODE parametr is a bit mask. Here's are the comments around taken from the leds.pde.
// 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
So I guess 9 is binary 00001001...so zero'th bit and 3rd bit...so it looks like the leds are on by default and so is the piezo beeper (which most people don't have!).
Makes sense to have a default of 9 so that motorleds and piezo are on by default. It used to be like that in the old code, before copterleds was implemented. Back then piezo and motorleds were also on by default, so that people only had to plug the leds in to get them working, without having to recompile.
I see little harm in having them on by default. Don't think many people are using those pins for somthing else.