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 think auto trim is for the accels. It flies fine in stab mode with no trim. It is the gyro that is the problem. I tried trimming it in Acro with the TX and then recalibrating the radio. It saw the new position as neutral and I still had to hold forward stick.
have you gone to the "configuration" button and "level" in the mission planner with the copter connected to the pc while it remains at rest leveled in a plain leveled surface ? That looks like offsets not calibrated. Use a bubble level and some sort of card pieces under it to level it and use the bubble level to measure from motor's top to motor's top, then when you have all the 3 motors leveled (or very near), hit the level button on the planner, and try to see if it's better. Use the auto trim only after that to do some small corrections, however, auto trim must be used in a windless environment, or any adjustment you make, will turn against you when the wind changes. I don't need auto trim after using the level command and I have a cog away from center.
I have calibrated the level mode and if I fly in stab mode there isn't a problem. Acro mode is where the trim changes. I can trim it in Acro with the TX and it is fine but that is a problem for the other modes because they see the trim as a control input
Did you tried to increase rate_pitch_i until it stop leaning ? (you may have to verify that Imax>0).
My rate I settings are actually greater than rate P 8) But it works a treat. (on pitch : rate kP=0.18, rate kI=0.19, doesn't fly well in acro anymore since I dialed kP down but rock solid in stable. The rate I param was tuned when flying in acro mode)
Good luck !
Thanks I'll try that later today.
Having a strange RTL issue with 2.6 : when activated, my tri always bank toward an apparently stochastic direction and maintain it's angle until I switch over to stab. I have the APM2 with stock MTK GPS, and a well tuned loiter. MinimOSD should display an arrow showing home direction and distance but doesn't, so I don't know if it's osd-related or AC having trouble to set the home point. Is there any way to tell where the home location is with telemetry and MP ?
The home location should be set to whatever location your GPS location reports a few seconds after lock. In the code we specifically wait a bit after the first GPS lock in order to let the reading settle down a bit but maybe you're getting some really bad values.
If you post some dataflash logs we can see if that's really the problem. We should be able to see from the NAV rows in the logs where it trying to go to. Also we should be able to see how erratic your GPS values are near the beginning of the logs (which is where your home location would have been stored).
feel free to PM me if I don't respond soon after you post your logs.
I've definitely seen the "home" location get narrowed down for a few minutes after satellite lock. Sometimes it moves as much as 50 meters.
Does it make sense when creating a set of waypoints for an AUTO script to always execute a DO_SET_HOME as the first thing (assuming that's where you want home to be)?
the location reported a few seconds after lock is in many cases going to be right next to my car. i was under the impression that home was set when arming motors, is this wrong?
In the init_arm_motors function you'll find this :
// Reset home position
So home is reset every time you arm motors in ACM2.6
Hi Randy. The home location not displaying in MP nor minimOSD was my entirely my bad (forgot to reset the good SR3 values after an eeprom erase). Had 2 successful RTL before the rain began to fall. Same config, same params (except for Sr3), same location, haven't changed anything. Bad mojo ? I should have the logs of the earlier failed attempts in the dataflash, but being on a family trip away from the tri, I can't post them before 10-12 days. Will PM you at this time. Thanks for your support and sorry for the dumb questions.
@ Alex : do you use fpv Tx ? If so, which frequency ?
@u4eake : good to know. Seems more logical than setting the home point at the first 3d lock