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 Duran - SteadiDrone on -
Thanks and THANKS YOU guys for the amazing code! I would like to help and assist where possible with testing as we build and sell copters, and have always used and promoted APM. Let me know where/when I can help with anything else, especially biger octo rigs.
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Permalink Reply by Tye on -
The greatness of the APM2 will be shown when just about anybody can easily do what Duran did in his videos... what they show right now has a little more to do with his tunning than the automation of the APM2...unless the 2.6 pid defaults happen to be very close for his frames ;-) !
Cheers
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Permalink Reply by Duran - SteadiDrone on
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as mentioned be
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Permalink Reply by Duran - SteadiDrone on
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haha :)
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Permalink Reply by theo van niekerk on -
nicely done duran.....
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Permalink Reply by Jonathan M on -
Duran,
Can you post your param file? I have a large-ish hexa (close to 4Kg) and am trying to get it dialed in. It's ok at the moment, but still tends to drift and wander around.
Thanks,
Jonathan
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Permalink Reply by Duran - SteadiDrone on
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Sure Jonathan, just load 2.6 via MP ;) I am using stock defualt settings, have not changed anything.
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DeveloperPermalink Reply by Adam Rivera on -
Duran DeV: Glad to see the APM2 working out for you. Could you share your PIDs for your large videography octos? I am looking for the smoothness factor. I think I have it fairly close but it is always nice to compare to someone elses. I also fly a large octo... mine is 1.6 meters diameter.
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Permalink Reply by Chapelat Daniel on -
Hello Randy
The day starts very well thanks to you
I load 2.6 through Mission planner this morning on my part FL 450, I followed your instructions (P reduction rate of 25% because my engines are 880kv), all other PIDs are original.
this is fantastic! the quad is almost motionless in radius of 50cm, with sonar altitude seems to follow the terrain, really exellent, loiter is very strong
Congratulations to the team
I do not know the MK (very expensive) but I think with 2.6 MK designers have worries of what to do!
Congratulations again to all the team and thank you for your effortsRegards Daniel
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Permalink Reply by Gustav Kuhn on -
Thanks team,
I received, and soldered pins to my 2560 APM1 board today, and loaded the code.
Rebuild for my standard jDrones Quad tonight, AND the weather looks promising this weekend.
I hope to be as happy as everybody else by the end of the weekend :-)
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Permalink Reply by I.S. on -
First of all, thanks to all de devs, testers and everyone involved!Excited to hear (and wish to test asap )about the new features.
1- Could you further explain (link info) the "Auto Approach" thing?
2- Any guides about how to perform the flips in acro and stab modes?
I am anxious to test it but I think better to know what I am supposed to do with the Tx sticks before feeling too brave.Thanks again!
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