The APM dev team is delighted to announce the release of APM:Plane 2.74, a major new release with a lot of new features. This release is recommended for anyone flying fixed wing aircraft with an APM2 or PX4.

There are a lot of changes in this release, but some of the highlights are:

  • new APM_Control attitude controllers.
  • new TECS speed/height controller from Paul Riseborough.
  • two new flight modes, ACRO and CRUISE
  • new camera trigger by distance system, for better aerial mapping
  • dozens of small fixes and improvements from two months of development
  • lots more documentation, including tuning guides for all the new parameters

Scroll down for a more complete list of changes, but before that I'd like to give you a bit more detail on the highlights above.

New Attitude Controllers

The new "APM_Control" attitude controllers have been in development for a long time. Originally developed by Jon Challinger last year, they were extended by Paul Riseborough and made compatible with the existing parameter names. The key advantage of these new controllers is their improved handling of noise, and much better ability to tune for your aircraft. There is a new tuning guide in the wiki which gives detailed instructions on how to make the most of the new capabilities.

One of the big effects you will see with the new attitude controllers is better handling of pitch compensation in turns. The new PTCH2SRV_RLL parameter makes tuning for flat turns much easier, which has been a major source of frustration in the past.

The new controllers also handle sensor noise much better, especially if you use any D term in your roll or pitch controllers.

New Speed/Height Controller

The new TECS speed/height controller is the second major controller change in this release, and will make a world of difference for aircraft with an airspeed sensor. After a lot of testing I decided to make TECS the default in this release, although you can switch back to the old controllers using the ALT_CTRL_ALG parameter if need be. If for some reason you find you do need these old controllers then please let me know, as I am planning on removing the old controllers in the next release.

The previous airspeed controller for speed/height suffered from a major problem that it gave absolute priority to airspeed. If the aircraft could not achieve the target airspeed you had set then it would dive to gain speed, even to the point of diving into the ground. This made it quite fragile, and you had to be very sure of your airspeed configuration.

The new controller operates over a range of airspeed values, set using the ARSPD_FBW_MIN and ARSPD_FBW_MAX parameters. That controller will try to meet both the airspeed and altitude demands of the mission, but if it can't reach the target speed it will happily fly a bit slower, as long as it doesn't get below ARSPD_FBW_MIN. You can control the relative priorities of speed versus height using the TECS_SPDWEIGHT parameter. See the full tuning guide for details.

New ACRO flight mode

After a suggestion from Thomas in the 2.73 release thread, we have added a new ACRO flight mode.

This modes brings rate controlled stabilization to APM:Plane, and should help give you an "on rails" manual flight experience. It is a lot of fun to fly, but it is not for beginners!

We're planning on expanding the ACRO mode in future releases. Right now it is great for "locked in" flying, and also good for loops and handles inverted flight very nicely. It doesn't yet handle knife-edge or prop-hanging.

New CRUISE flight mode

After a suggestion from Hein, we now have a new CRUISE flight mode. This mode is ideal for longer distance flying without a pre-programmed mission. It is like FBWB, but also does ground track heading hold, with heading update via aileron or rudder.

I've been testing CRUISE at my local flying field, and it is the easiest mode to fly in APM. Just steer the plane around the sky, and when you stop steering it locks onto a ground track and holds it. It isn't a good mode for takeoff and landing, but once you are in the air it is great.

New camera trigger system

When using APM for aerial mapping where you want photos taken at regular distances, the previous system was to setup a grid mission with a "camera trigger" mission item at regular intervals within the mission. That worked, but led to overly large and complex missions. You can now just set a single parameter CAM_TRIGG_DIST to the number of meters of flight between photos, and the APM will take care of when to trigger the camera. This makes for much simpler missions, and also works in other flight modes, including FBWB and CRUISE.

Lots of smaller changes

As is usual with a new release after a couple of months of development there were a lot of smaller improvements based on feedback from users. Many thanks to everyone who gave feedback and contributed patches!

Here is a partial list of the changes:

  • added new GND_ALT_OFFSET parameter for ground station barometric correction
  • made it possible to set the failsafe battery voltage and battery level at runtime via parameters
  • added MIXING_GAIN parameter for controlling the elevon and v-tail mixers
  • fixed stick mixing range in AUTO modes  (thanks Soren!)
  • fixed mode logging in dataflash
  • added support for the EagleTree I2C airspeed sensor on PX4
  • added new RCMAP_* parameters for re-mapping control channels (good for DSM and SBUS receivers on PX4)
  • made it possible to configure board orientation at runtime, to make setup easier without rebooting
  • switched to new task scheduler for more accurate internal timing
  • added a new RELAY_PIN parameter for setting up camera trigger via a digital pin
  • added secondary rudder support, useful for when a separate servo is used for a nosewheel and the rudder, or for v-tail planes with nosewheels
  • fixed RTL glide slope when starting above the target RTL altitude. Descent should now be smooth over long distances. Many thanks to Kitsen13 for raising this.
  • fixed a bug with FBWB airspeed control. Many thanks to Gabor for reporting this
  • Added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters. Many thanks for the suggestion by Aleck
  • fixed handling of deadzone parameters on RC channels. Many thanks to Soren for reporting this
  • many small C++ fixes from NeuroCopter. This sort of detailed review of our code is much appreciated!
  • fixed analog in handling with some unusual devices - thanks to Andi for noticing this!
  • added support for apparent versus true airspeed calculations based on pressure altitude, for better flight control at higher altitudes
  • avoid writing unchanged bytes to EEPROM, for faster updates and less wear on the chip
  • cope better with large yaw changes in the AHRS code
  • improved the reliability of USB connections on PX4
  • added PX4 support for RELAY (thanks to Marco Bauer)
  • fixed handling of high spin rates in AHRS (thanks Jurgen!)
  • removed support for the old APM1 1280 based boards.

This new release has a lot of new features that should improve the flying experience for all APM users. The APM dev teams wishes all APM users many enjoyable flights, and we hope you have as much fun flying this release as we had making it.

Happy flying!

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Hey all!

I just tried my Twinstar with the latest 1.75b. It barely worked in FBWA , i couldnt almost nudge it. I raised P a bit and it then worked ok. I have more to do there. But, in the new excellent cruise mode i did not have any elevator at all? I even tested it on the ground afterwards and the elevator did not move a bit? Is this a bug or a settings problem? Other than that i was really satisfied except that the throttle bumped up a little much in Cruise and RTL so I need to get that sorted.

I have a Futaba 7C and have changed the endpoints a little to match Multiplex throws. Not that much at all. Manual mode works good so the plane is stable.

How large are your WP radii? If too small you will always overshoot. Try 100-125 ft or so.

its about 10 meters so around 30-35 feet... I'll give that a go :) what about the tracking aswell? It seems have trouble lining p for its first waypoint? goes everywhere trying to line itself up everytime.

Ma I also ask what it is that the L1 control dampening does? 

Thanks :D

For tuning check out the tuning guides in the wiki. They are pretty good now. To be honest, after you get it close, it's been a mystery for me as to how one dials it in so the plane looks like it's on a rail.

Well im setting up a X8, im new to the whole autopilot scene and the idea is to setup the x8 for mapping with a NEX7...

What is the reasonable distance between the mapping lines? I currently have it set to around 50 meters...could that have a part to play in its disability to track on the lines well and have difficulty lining up and finding the next waypoint without overshooting and struggling to get back on track? thanks again

Hi all,

I try to come up with a smooth waypoint flight but for a couple
of days I can't make any progress.

My original problem posted here
http://diydrones.com/forum/topics/deviation-from-waypoint-track
still exists. Later I reduced to only 4 waypoints at the corners but
cycle three times the rectangle.

I run 2.74b and an EasyStar like plane without ailerons. The
aileron APM port is connected to rudder. I don't have an airspeed
sensor and no telemetry on board.

Today a beautiful day without any wind. I followed all of this thread
and made the FBW-A tuning first. It looked fine as far as to what I
understand it should look like.

Switching over to AUTO will not fly something similar to a rectangle.
It is overshooting the direct trail between waypoints very much. So
I'm not really sure if I still have problems within the tuning or
with waypoint handling.

I don't want to waste your time but if someone is willing to
look at the log and give some hints it would be great.

thanks
Wolfgang R.

Attachments:
Try making your waypoint radius bigger. I haven't looked at your logs, but that usually solves the overshoot.

where do I find the radio callibration tab?

I need it for elevons.

Another question: the stabiliz mode doesn't work fine, moving the nose up doesn't react in lowering the elevons elevator?!!?!:(

I can't get the stabilize work fine:(

where do I find the radio callibration tab?

I need it for elevons.

Another question: the stabiliz mode doesn't work fine, moving the nose up doesn't react in lowering the elevons elevator?!!?!:(

I can't get the stabilize work fine:(

You need to get elevons set up first before stab/fbw/auto will work properly.

I modify mine in the full parameter list.  You need to enable elevons by changing elevon_output from 0 to the number that corresponds to your airframe.  Mine is 3, DownUp, but you just change and then test on the ground until the elevons react the way you need.  After that, the auto modes will function correctly.

Also, make sure you disable elevon mixing in your transmitter - that or I think you can enable elevon_mixing in the APM for input, but I just disable it in the radio and let the APM sort it out, I believe this is the majority config.

where can I find thairframe number?

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