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!).
An interesting thought, it could provide some protection as well.
You'd definitely want to use very low forward drop diodes in the .15 volt range if possible.
I don't think the ground loop issue amounts to much anyway but the isolation could help.
The only time the ground loop is likely to be noticeable is if you have a really high motor draw and inadequate main power wires going to your ESC.
Whoops, here's the RLOG file I promised.
Just built my first Octo. Hobbyking F-30A , Turnigy SK3 3530-1150. (2)Turnigy 6000mAh. APM1-2560, with firmware 2.6
During a calm flight everythng is fine. If I bank hard, it seems like the ESC's go nuts.
You can hear the strange sound in the video
Do you guys think this is a ESC problem, flight controller problem, or something else? Any advice would be awesome.
Can someone Upload the compiled 2.6 Firmware? I canot Compile the Source Code in my Arduini 1.0 Programm :(
My Problem is: I have a APM 2.0 Board with a dead USB Port, there I have soldered a FTDI TTL interface on the UART0, now I can Configure my APM 2.0 over this Port, but i cannot upload the new Firmware.
look at the video.. my problem video result still not smooth.
my quad frame X650, 2.2kg (included 4s , vtx,gopro), APM2 FC, v2.6
i use MC6500PRO camera gimbal and MP set gain set to 3 (faster response for camera gimbal)
quad all stock PID except STAB ROLL / PITCH "P" value is 3.5.
the quad seem flying smoothly.
1) is it i need to lower my STAB ROLL / PITCH "P" value to let says 2.0? to get smooth hover/flying so that my gimbal will stabled and not to push to hard?
2) i have no idea how to set YAW setting. when STAB mode, push YAW stick slowly and quad bounce back
thanks for answer..
From your statement, do you know that Gimbal Gain is not for faster response, it is for scaling of travel? "3" is high.
default Gain for gimbal is 1. which is slower reaction. i try to increase the gain value to 2,3 and 4 , the gimbal more responsive. maximum gain is 4. i just put 3.
i dont see any travel change if i increase gain.
correct me if i am wrong.. i just want to make Aerial video smooth.
Smoothness can be affected by your gimbal mounting method or if there is looseness or slop in the gimbal's mechanics. But again Gain is not responsiveness, it is how much the the APM will move the gimbal to keep it level. If your quad tilts 5 degrees the Gain help you calibrate the Gimbal to move 5 degrees. You may find hard mounting the camera will get you good video if your quad is smooth.
....hard mounting the camera will get you good video if your quad is smooth.
i will try to do hard mounting the gimbal.
thanks for your suggestion Matt.
I wish I could have video as smooth as yours ultrojo :) don't expect to have the video cooooooompletelly smooth without using camera video stabilization os editing software for that. You can get more smoothness if you use a big octo and a camera with video stabilization, but even small oscillations may provoke some wobble in the image and if you have a small hexa or quad, the gimball will most likely be on the props turbulence area, then the gimball may be "shaken" by that turbulence. Try software like vReveal to improve the image quality, but let me say, I liked what I saw.
u are right Rui,
i try to upload in youtube and edit "Stabilize" from youtube, the video smooootthhh..
Also, another tip. Those videos you see at the gimball manufacturer site, are at 60fps. If you're using a gopro, I believe you have a mode with 60fps recording speed. Try to make a video at that speed and then in media player, play it at half the speed :) you will have a 2x slow motion at 30fps, that's how most videos get those soft flight look transitions.