ArduCopter 2.6 released!
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]
Tuning:
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!).
Happy flying!
Replies to This Discussion
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Permalink Reply by John Campen on -
well I did set home position before activating the mission and so the home lat/long were set in MP before I launched it. The flight I want to do is simply to ascend and descend at given altitudes and and pan on a few and then land. On this test there will be no way points in this flight other than the home position. Will it work like this or do I still need to set way-points?
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Permalink Reply by Michael Pursifull on -
You need waypoints. Waypoints are what you want. Set lat, long, and alt. in case I didn't mention it, use waypoints. And some waypoints. Don't forget to use waypoints. And some waypoints, too.
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Permalink Reply by Andre on -
I have a question my Y6 tends to want to yaw left when take off and during flight. I have level it and set some trim to but it just dont feel right when flying.
I used to have the xaircraft Fc on but its motor layouts is totally different on the xa all the pusher props if im not mistaken is on the bottom side.
on the APM the two front arms is pushers on the top side and on the rear side pusher is on the bottom.
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Permalink Reply by Sasha on -
No FPV, No wind conditions
Without post stabilization
650mm carbon Hexa
APM 1 (Firmware 2.6) all setttings and PIDs default
2axis gopro mount (only roll was working)
2x5800mah 4s zippy
Turnigy plush 30a (programed with turnigy programming card changed some settings)
Rctimer 3530 850kv (replaced bearings with japan SKF bearings)
11x5 Gnaupner props (i never balanced any props, maybe i should?)
Had about 40-50 amps current in hover. AUW weight dont know yet.
Is it 40amps to much for hover for this setup?
It takes about 25amps current for taking off... (Using eagle tree V3 logger for monitoring current and eagle osd pro)
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Permalink Reply by Sasha on
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Question:
WHen i was using APM1 with 2.5.3 throttle at start was not that much agressive as now on 2.6.
Or its possiblly because i changed settings on ESC plush tgy. with programming card to high pulse?..
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DeveloperPermalink Reply by Andreas M. Antonopoulos on -
See the changelog in the announcement above?
"- throttle range improvement (higher min and max) [Jason]"
The low-end of the throttle range has been raised. Since the "useful" throttle in a hovering vehicle is only the top 60%, you can end up wasting 40% of the stick range before you have enough power to fly. That means all your throttle maneuvering has to be within the remaining 60% of range, which makes control much harder (you need smaller movements). By raising the low-end of the throttle, it starts more aggressively but gives you more fine control through the rest of the range. It is adjustable with the THR_MIN and THR_MAX parameters I believe (that fix might be in trunk, but not yet in release).
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Wiki NinjaPermalink Reply by Gary McCray on -
Time marches on.
In Arducopter 2.6 Arducopter.pde minimum throttle was hard set to 200 up from 130 in Arducopter 2.5.5.
But Jason has already reset it back to 130 because of so many problems.
Just upload a new copy of Arducopter 2.6 from the planner firmware section it's already in there.
Generally they make several changes per day to the Arducopter and accessed ArduPilot code.
Check Source - Changes at the ArduPilot web site to see what they have done recently.
Even though minimum throttle parameter is shown in the Mission Planner Parameter List to the best of my knowledge it still does not actually do anything, a good guess is the next small incremental release.
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DeveloperPermalink Reply by R_Lefebvre on -
Gary, if I understand what you're saying, that's not right. Daily updates do not end up in the MP firmware releases. The firmware is updated periodically after we decide to "release" a code under a new revision number. So if Jason backed out that change after 2.6 was released, the change is not in MP yet.
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Permalink Reply by Gordon on
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Just came back from a fly with 2.6 on APM 1.4 1280
Own design hex that is quite heavy for it's size (hard finding light items locally)
Turnigy 2217 880kv motors. APC 12x3.8 props
AUW 2.4Kg
Flew very well in gusty conditions, reduced stab_p to 3.8. Handed the controls to a mate who only flies a HK450 heli and was amazed at how stable it was, so kudos to the dev team.
Next flight was time to try pos_hold. It was initially carried about 10m with the wind, but it fought back admirably. Had the slowly increasing circles happening, but some loiter tuning should help that. The turbulence off the trees wasn't helping either and you could see it fighting the gusts that kept changing direction.
Only had time for 2 packs, so next time out will be loiter tuning and I'll kick in alt_hold as well. Very happy overall. Oh! there were no yaw issues at all.
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Permalink Reply by Mike Mac on
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I have never understood why the default Stab_P is so high? I have had to reduce it on every firmware version? With 2.6 that’s the only think that I have changed so far. I will do more flying this weekend and maybe some PID tuning.
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Permalink Reply by ultrojo on -
hi,
my x650 quad crash this morning, because suddenly quad descending after 2 minutes hover, even i throtle up, camera gimbal damage. others part safe.this my spec.
x650 aircraft frame, APM2, V2.6, stock PIDs except stab roll/pitch "P" 3.5
esc 18a tgy plush , stock motor xaircraft, lipo 3700mah 4s (fully charged). gopro ,vtx,camera, AUW -+ 2.2kg
can someone look my log. whats wrong,
is it 4s lipo produce more amp and esc hot caused this "descending" and crash?
i have no idea what caused of this.
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Permalink Reply by ultrojo on
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sorry,
this is the attachment.
- Attachments:
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2012-07-07 23-25 72.log, 381 KB -
2012-07-07 23-03-48.tlog, 785 KB
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