Developer

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!

Tags: ACM, APM1, APM2, Heli, Quad

Views: 52351

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Replies to This Discussion


DeveloperPermalink Reply by Marco Robustini on July 23, 2012 at 2:33pm

Thanks Andrew for your report.

Permalink Reply by Mike Snow on July 24, 2012 at 12:46pm

Hello Andrew,

     I am curious whether you enable compass learn or not when you are using your compass offsets code.

thanks

Mike

Permalink Reply by palo sestak on July 23, 2012 at 2:25pm

I have updated MP to 1.1.99 mav 1.0. When entering APM setup window on Parameters List page I can see only selected value, all others are white (background and text font of each cell).

Is that only matter of setup? If yes, then where I can set it to previous colors?


ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 10:04pm

I have the same, it's not a matter of setup

Permalink Reply by Umer on July 23, 2012 at 9:17pm

I have a query regarding arducopter 2.6:

For 880 Kv motors, value of Rate Roll P should be 0.09-0.1 (as stated in wiki) or 0.110 (as mentioned in mission planner Med P = 0.110) ?


ModeratorPermalink Reply by Graham Dyer on July 23, 2012 at 10:05pm

Start with the default value, the wiki is a little outdated for those values.

Permalink Reply by James on July 24, 2012 at 3:20am

for a hexa with jDrones 880kv motors, APC 12x3.8 props and AUW between 2 and 2.5Kg i am using RATE P of 0.130.  do try the default 0.160, but be prepared to tune it down a bit.


ModeratorPermalink Reply by Graham Dyer on July 24, 2012 at 12:49am

Flew v2.7RC this morning, very nice. Auto, Loiter, RTL work very well. In Loiter there are some medium frequency oscillations which don't seem to affect the Loiter but would definately upset any aerial video takers. Otherwise great job devs, looking for to v2.7 final!


DeveloperPermalink Reply by Marco Robustini on July 25, 2012 at 11:21pm

ArduCopter 2.7 final is in the download area and in the planner, we continue the discussion in this thread.

Bests,
Marco

Permalink Reply by Lucas Tan on September 16, 2012 at 11:54pm

Hi, i have a question. Normally if i just connect the ESC outputs to RC receiver, we're able to fully control the UAV. When we want the rotor to start spinning we can simply push the throttle. Here comes the question. Now if i connect the ESC directly to APM 2.0 Board, and also connect Receiver Channel inputs to APM board, the thing works differently. The ESC starts up the moment we connect the battery source to it which is not the outcome i want. So how can i do to resolve this issue? Please help me guys I need it!!

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