ArduCopter 2.7.2/2.7.3 released
Arducopter 2.7.2 is now in the mission planner and in the downloads area. Some positive reports on testing can be found in this discusssion by John Hanson.
Note: just as the release was going out an issue was found re support for the all Camera Gimbals on the APM1s (it doesn't work) and with 3 axis gimbals on the APM2 (2-axis works ok but not 3). If you're one of these people, please wait for 2.7.3 which will be out shortly.
UPDATE: 2.7.3 is now in the Mission Planner
Functional Improvements over 2.7.1:
- Fast waypoints (Jason) - if the turn angle between two waypoint the copter is less than 60 degrees it does not slow down
- Navigation improvements and logging including switching to filtered location for distance calculations (jason)
- Flip improvements - more aggressive and flexible flip code based on attitude instead of timing (Jason)
- Improved camera control - you can now control any axis (roll, tilt, pan) with any rc channel. it probably makes most sense that you will use 6 but others are possible too. Unfortunately these changes required we change the set-up procedure so the mission planner gimbal set-up screen needs to be modified again. Please refer to the AC_Camera wiki page for how to manually set-up the gimbal (Amilcar)
- Flybar acro mode for TradHeli (Robert)
- "Fast gains" - allows strong correction of attitude using accelerometers while the quad is stationary on the ground but relies more on gyros while flying (Tridge, Jason)
- Baro filtering improvements (Tridge)
Bug Fixes:
- DMP timing fix (Randy) - the MPU6000's dmp unit was inadvertantly turned on and caused timing delays in the main loop- xbee bricking issue (Craig / Tridge)
- Dataflash fixes (Jason)
- Engine ticking - was a combination of roll/pitch rate D term being too high and the dmp timing fix above (Randy, Emile)
- Faster heading correction on start-up - resolves issue with simple mode getting incorrect heading if you took off very soon after start-up (Tridge)
Code Cleanup:
- Increased maximum number parameters (Tridge)
- Formatting changes to code (Pat)
- Replaced "int" with "int16_t" everywhere (Randy)
As per usual 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.
There is still some question on whether the default Roll/Pitch Rate P (0.175) is high enough (it was 0.185 in 2.7.1) and also some people feel the Throttle Rate should be higher (currently 0.300 but some say 0.330 or even much higher would be better).
Please feel free to report issues you find in the discussion below and/or add them to the issues list.
Thanks and enjoy!
Replies to This Discussion
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Permalink Reply by Kevin Brown on -
Very cool I will try in my Y6 today
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Permalink Reply by den on -
I used APM2 2.7.1 firmware, DMP is enabled in the CONFIG the APM2 can start OK，But APM2 will crash starting when I enabled 2.7.2 CONFIG “# define DMP_ENABLED ENABLED” , what caused that ?
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Permalink Reply by den on
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I enabled 2.7.3 firmware CONFIG “# define DMP_ENABLED ENABLED”, APM2 still crash when it staring :-(
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Permalink Reply by Peter Chaffe on
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Ok Just been out and tested, all good so far, slight tendency to climb in baro alt_hold (over 22 ft). Sonar alt_hold (below 22 ft) perfect.
Too dark to test auto.
RTL fine.
Decending when slow yaw is input,(in alt_hold) that problem has vanished, so now fine.
Still no dataFlash, reported in cli <dataFlash not inserted> APM2.5
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3D RoboticsPermalink Reply by Chris Anderson on -
Peter, I'm not seeing any dataflash issues on any of my APM 2.5 boards with this release. I think there may be an issue with the dataflash chip on your board. If you need onboard logging (I tend to use telem logging instead), you might want to send that board back.
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Permalink Reply by Peter Chaffe on
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Hi Chris,
Have modded the apm board, see the pcb strip held in position by the friction of mounting on spare header pins. the strip lightly holds in place a piece of breathable foam over the baro sensor.See apm is also mounted on foam, also with foam under each clamp makes for hopefully a completely vibration free mounting, can't say I've seen any improvement due to the soft mounting, maybe because the props are well balanced! Not sure.
I'm in the uk, got my boards from Martin (BuildYourOwnDrone) Are you saying i should send the board back to him or to DiyDrones?
Ah telemetry, yes! 2.4ghz xbees! one not working, one might be, they weren't too kind! resulted in a burned out apm1 and oilpan! those were the days! Don't want to do a rerun of that scenario! What are the alternatives? I use uhf r/c as standard now so 2.4 ghz telem is no problem for me freq wise...
Peter
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apm2.5_baro_filter.jpg, 105 KB
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3D RoboticsPermalink Reply by Chris Anderson on -
That baro cover looks fine. As for telemetry, you definitely want to go with the 3DR radios instead. Half the price, longer range, don't brick, etc...
You'd have to coordinate any return with the store you bought the board from. But if you're switching to telem logging (much more data, better analytics), you won't need the onboard chip so you'll be fine with your current board. (BTW, I'm assuming you can't erase the dataflash from the CLI either, yes? If you can do that, you should try to see if it clears things up).
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Permalink Reply by Peter Chaffe on
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Well the strangest thing is that on first power up from new, install and config, the dataFlash was being detected, and the first flight was recorded, I used MP cli to erase the flash for the next session. Since then the cli has always reported "Not inserted" message. There was one exception, when I loaded one of the v2.72beta versions it detected the dataFlash once, no logs, so did an erase and it said erase successful, since then I always get the "Not inserted" message.
Will look into the 3dr radios...
Peter
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DeveloperPermalink Reply by Randy on -
Peter,
On the APM2, I've found that sometimes it doesn't detect that it's inserted but if I jiggle it around a bit it's ok.
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Permalink Reply by Peter Chaffe on
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Hi Randy, I should have mentioned, its the apm2.5 version with on-board dataFlash ic.
Peter
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Permalink Reply by John Campen on -
Peter, See this post and threads about discussions on dampening issues.
http://www.diydrones.com/profiles/blogs/rubber-suspended-mounting-o...
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