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!).
Looks like you have lots of steel bolts and screws in that frame. That’s a very big problem for the magnetic compass and may block or scramble GPS signals as well. Replace all those with aluminum or nylon screws then recalibrate the compass.
Fastenersexpress.com has the aluminum hardware that you need. I really don’t understand why they make kits with steel parts when it’s not compatible with controllers with compass/GPS.
Thanks Mike. Can you link me to that thread. Try as I might I've only found one, and it's going nowhere.
Still got no lock, depite being naked. Whilst you've given a good point about the steel hardware, and possible noise, it doesn't explain why it achieved lock with 2.5 FW.
That little patch antenna on the GPS module should be fairly focused, about 70 degree I believe, so I kind of doubt the RF's being blocked.
Locks fine when plugged in via USB, both with and without main battery being plugged in.
I'll try pulling the APM2 clear of the everything tonight, and see if that makes a difference.
thanks for the ongoing assistance!
Yes you have to get it out of there and up and out of the way from power cables and other electronics.
I can't think of any reason why this would be related to code (and I'm not having any MTK GPS lock issues with any of my copter running 2.6). Can you pull your APM 2 out and try it by itself, powered by an ESC?
Thanks for that.
Interesting results. If I power from the ESC BEC I get 4.93v going into the APM, and just 4.63v feeding the GPS module, and no lock.
But if I feed it directly with a ni-cad pack of 6xAA's, I get 5.2 v into the APM, and 4.84v at the GPS module and a rapid lock (sub 2 mins)
I suspect the fact I'm also powering an minimOSD (not working yet, same issue as http://diydrones.com/forum/topics/missing-overlay-on-gopro-hero2-si... )
which I installed after 2.6 FW update.
So a dedicated BEC might be the answer?
I take it those velcro straps are to mount the batteries and on is on the top and the other along the back ? The one on the top particularly would be a concern to interfere with the gps and probably even the gyros. Try a different mounting for the batteries where they are under the frame just to see if that is the problem
Does the code perform any level command on boot up or arm? I'm finding that the only way to get the horizon to show level in MP is to use the level button in MP. I've tried the 10sec arm to try and trigger the level and nothing. If I do the 20sec arm I go into the 45sec in-flight levelling. Is there a new procedure to force the level in 2.6 via the Tx? I loaded the 2.6 firmware via MP 1.1.96 Mav 1.0.
Even after forcing the level command from MP, after I turn off the APM and turn it on again the level is back out by 20deg or more in the roll. Boot up and arm does nothing to bring the level back, only via MP.
the "on the ground" level is with a ~10sec disarm command. in any case once levelled it should stay that way after cycling the power to APM, i dont know what could cause it to show such a huge error in roll.
3DR Telemetry vs. USB: I was trying to configure ArduCopter over 3DR Telemetry kit but it works strange: I was able to enable Sonar, but not to disable. Also many other configuration options (like battery monitoring) was not working properly over radio link (tried many times, usually with message: Setting .... failed.). The same changes works over USB without any problems. There are no problems with radio communication - telemetry works perfectly, the only problem is with configuration.
Hello I am new here,
My copter flies very well to date (APM2 2.6).
Unfortunately Loiter is not quite accurate. What parameters should I change so that the copter stays in one place?
Thanks in advance.