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!).
u4eake, yup, that was exactly my reasoning. I wanted this to be backwards compatible since it's frustrating for users to when something that used to work just stops working and they have to search around trying to figure out why.
Unfortunately, I'm not sure it's totally successful, as I've seen some problems, but I haven't been able to look into them yet.
I also owe everyone a Wiki entry about the feature. One of the hold-ups is not having any good graphics for it. I hate to post one of my chickenscratch MSPaint things. ;)
I have not been able to find anything no how Copter LEDS works in terms of wiring.
I am new to APM/ArduCopter, I have APM2, I can read code (mostly debug, not so much write unless in VB6 :P).
I plan to take a look at the code to see what outputs you use, but even then I am not sure I will be able to figure it all out. I am also fairly new to RC stuff, so that gives me more things to lookup at times.
I think that a Wiki or at least MSPaint would be great. Even a quick one that can be added to later.
Yes the wiki on CopterLEDs could be more complete. Now it references a blog. I would also like to hook them to my APM2 but need to study where the connections are on APM2.
F11: Good point. I can give you wiki access to make those changes. Please just PM me with an email address linked to a google account.
I've made it work with the APM2. Start here:
and then a check the code for 2.6 found that some of the analog ports are assigned to COPTER_LED
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
My own experience was that AN4, AN6 and AN7 were functional for the LEDs and that AN5 didn't work, but it's probably because I didn't enable something that needed enabling.
Interestingly, AN10 and AN11 are also assigned to camera gimbal functionality (which I use) so I've stayed away from testing the LEDs on those ports.
I've got three strands of LEDs (R, G and W as Nav lights) and they work as advertised (slow flash when disarmed, solid when armed). Haven't tried the battery warning yet, since I've got Frsky telemetry telling me that on the transmitter.
I wonder if your mag log looks that way because you had your copter headed right on 360/0 degrees and it kept jumping between them. Try holding a heading 90 degrees away from there and see if it looks better.
Glenn, yes, exactly. If you fly heading due north, and flip back and forth between 359 and 1 degrees, that's what you get. Kinda sucks, but what can you do?
I tried to run and auto pilot mission last weekend. Im not sure I have the settings correct. The plan basically was to auto take off to 5 meters then after 30 second to go up to 20 meter, then 100, back to 40 then 20 and then land. But all it did was take off to 5 meters and just stayed there.. Can someone please look at the file and let me know whats wrong with it?
this is the log. the flight starts in at about 8.30
any advise anyone can offer?
you have no navigation commands. You must have navigation (waypoint) commands, and lat/long coordinates. nav commands form the backbone of the script. Without them, it (as you can see) does nothing.
Create a new script, using only nav (waypoint) commands. Observe how it performs the actions. Then add your yaw, etc commands.