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 palo sestak on -
Itt leans always forward not backward - rear motors thrust is bit higher than two side motors.
Therefore I must pull the lever (horizontal stabiliser) on my radio in STAB mode.
Yes the tricopter was set on level.
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Permalink Reply by Derek Ernewein on -
Could you take a few pictures of the tricopter and post them? It just an easy way to look for something weird or unexpected. Get close ups on the board too.
When flying in stabilize, which way do you need to move the stick to keep it level? It is just hard for me to know from the log what angle is it tilting or if it is you doing it with the controller. I am now to reading the logs but I'd like to help.
The image shows what I believe it is doing on its own. Let me know if that right.
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palo.png, 3 KB
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Permalink Reply by palo sestak on
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Yes that's correct - nose dive bit lover that rear. This is doing on its own. I just must pull the stick controll (elevator) to correct it. Of course only in stab mode. In all auto modes it is controlled only by ACM.
Here are some pictures [from my mobile, not very sharp :-( ]
Battery is right now on charger so it's not attached to frame...
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tri.rar, 6.6 MB
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DeveloperPermalink Reply by Marco Robustini on -
Palo, wait for the new release of ArduCopter, there's great news about RTL, AUTO, Loiter, etc.....
Cheers, Marco -
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Permalink Reply by Perecastor on -
Need help another time ( sorry ) ....
This morning, i put the apm2 on mission planner ( new version ) and i have some problems with my gyros..
Here a short video of my problem: http://youtu.be/dmIlWfYb3nM
Thanks for the help in advance,
David.
Edit: quad in X config and the RX is on the back of the APM2 ^^
So the problem is when i turn the quad on the left or right the gyro is wrong
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Permalink Reply by Klaus Heinrich on -
Gyros work correctly with you.
If you are flying left, the artificial horizon tilt to the right ...
It's all right ...
you'll see it in the engine test
ciao Klaus from Germany
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Permalink Reply by James on -
Perecastor, that looks correct to me.
bear in mind that the artificial horizon shows the ground relative to the craft, rather than the other way around. when the craft rolls left, the ground appears to roll right.
james
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DeveloperPermalink Reply by R_Lefebvre on -
No problem there. Just think about how the ground looks if you're sitting in the quad.
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Permalink Reply by Perecastor on
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Lol it's ok......
I don't know why i was thinking that the gyro was wrong....
I didn't fly this week and i thought thats the artificial horizon tilte on the other side after the update of mission planner......
Another time, i'm sorry :/
I don't want to crash my quad so i'm a litte scary before pushing the throtle stick ^^
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Permalink Reply by Klaus Heinrich on
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I think everyone here in the forum you understand very well :)
good luck and have fun with your first flight...
ciao Klaus from Germany
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Permalink Reply by Paul Emous on
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He guys,
First of all sorry if this post looks a bit rushed... but I just spent 15 minutes of writing post... and then the browser crashed.. :D aaaaah.
Any way.. I am following this tread with great interest, however still have some problems as many other people I guess and I couldn't find the answer yet. I hope to some new responses by differing my questions toward fellow member and maybe the developers :)
Currently I am flying a F450 Quad with 4x 850Kv Motors and 10" props. (AMP1) I use one Hyperion 5000mah battery. No landing gear or camera gear at the moment. In other words (except for the battery which is mounted below the frame) a pretty light and straight forward setup.
After the upgrade to 2.6, I experience a severe aggressive copter, that was more difficult to control. After arming with the throttle stick centered it takes with so much power that I have to drop throttle back to approx 25%. Lower then that and the engines will stop / stall. Now what I understood from previous post is that the Max / Min throttle input was altered (lower / higher values compared to 2.5.5)
Now my questions:
- Is there somebody that can help me with the PID setting for a F450 frame, 850Kv Motor + 10" Props, making it more smoother to fly? (I have standard PID settings at the moment).
- Is there already a work around for this power output issue (making my current config take off like a rocket)? (Sorry if this is already addressed.)
Every advise is welcome! I hoping to take my baby out for a little spin tomorrow.
Cheers,
Paul
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Permalink Reply by JohnB on -
I'm sure this is posted somewhere.. but I did search for about 20min and could not find it. Is there a full listing of the default PIDS for arducopter 2.6?
I've been tweaking and putzing too much with my PIDS and would like to return to the default values.
I wish this forum had a thread search feature.
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