Discussions

Arducopter 2.0.55

Posted by Jason Short on December 3, 2011 at 4:51pm

The latest AC2 code is posted. This is the last code before the big switchover to APM2 codebase.

What you should expect: More stability and better handling, especially if your CG is not centered.

Heres the update list from the downloads section:

Most stable flying version yet. Includes new stability patch by default and a new DCM gain and clamp value that should reduce drift due to linear acceleration in missions or long flights.
Switched rate gain calculation to use raw IMU rather than the DCM's omega. This crisps up the response a lot.
1280 has lost local flash logging, sorry, but it's just not supportable any longer.
some older tests have returned now the program memory is freed.
Remember, to use the new logging format on the 2560, you need to erase it at least once to format it.

He're the video showing just the control loop patch. The DCM patch was added later and improved the handling some more.

Jason

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Replies

Phil Cole December 9, 2011 at 10:07am

I tried 2.0.55 in my stock 3DR quad.

Loiter seems OK. There was some pulsing and log shows something on with alt. but it seems to stay in position at least as well as 2.0.49. 49 didn't do the pulsing.

I sent it off on a mission. It headed off to WP1 then flew on by to crash in a direct line through WP1 but well past it.

I haven't a good chance to look at the log, but I'll post in case it's useful. I only have a 1280 board in the quad, so there's only the tlog.

TLOG

MISSION
Martin Szymanski December 8, 2011 at 11:22pm

Over California there is a high pressure system with cold air and no winds. This makes a perfect test.
Developer

Jean-Louis Naudin December 8, 2011 at 11:01pm

Hello to All,

Here, below, my latest working PID setup that I have used successfully with the v2.0.55 + alt_hold patch, I hope this will help you for your tuning.

The tuning of the Throttle_rate is very important to get a smooth flight during the Alt_Hold.

Below the video of the last WE tests flights with the Arducopter v2.0.54 + stability patch:

I hope that the weather here will be less stormy next WE... I shall soon post more flights videos with the v2.0.55+ ASAP.

Good tuning with your arducopter and enjoy flying...

Regards, Jean-Louis
steve December 8, 2011 at 1:49pm

Tested loiter with these settings and 4S 5000 nanotech and results were the same. Very aggressive over shooting just like previous video. Is this normal loiter performance or should I look for some interference? What settings should I look at in the log to see if I'm getting some wrong performance?

Weight with 4S5000 is 1732g
steve December 8, 2011 at 12:59pm

I tried out .55 yesterday and first with the stock PID settings on my stock 3DR frame. Only added wait is a light gopro payroll and I'm using 3S and 4S. Can't remember what I used in this. It was the first time I engaged Loiter and it took a lot to resist switching back to Stabilize. Really lurched around a lot and the wind was not that bad. Just a light breeze. I then set up my PID exactly like Jean-Louis posted earlier in this thread. It was the first time I changed from the default settings. His settings make the copter much smoother and wind seems to not effect it at all. It would be perfect for camera or fpv but not for any aggressive type of flying.

I haven't tested Loiter yet with these settings but will tonight. Loiter with the default PID was unusable.

BTW, I'm not using sonar.

Board is sitting inside soft styrofoam. It breaths well so I don't think it would effect the pressure sensor.
Gustav Kuhn December 8, 2011 at 7:14am

Hi, another question.

Can you still load this firmware out of Arduino?

Regards,

Gustav

(From a VERY windy Cape Town, grr....)
Martin Szymanski December 7, 2011 at 7:53pm

I am not sure to take the next step. I opened up a ESC on my quad custom build in hope to do a firmware update. It has a

C8051F310 on a Turnigy Plush 40. This Silicon Labs processor is also used with the what Turnigy calls the super brain ESC.

This hardware has not failed so far and is reliable. However I may need to purchase the ESC's from DIY drones store.
Gustav Kuhn December 7, 2011 at 12:21pm

Hi Jason, once again, thank you!

Does Mission Planner install the latest code ?

Regards,

Gustav

Edit:

Just flew my Standard Quad in my (small) lounge, with the code loaded by Mission Planner, the most stable I've seen it yet :-)
Arnt-Inge Hansen December 5, 2011 at 2:59pm

Jason, can you take a look at these logs, copteret ran amok, it yawed sharply and was uncontrollable. This is with .55 althold patch. It had flown fine all day, it had been standing outside in -2 degrees for about 15 minutes when I started this trip. Just before this trip, I had set the declination, therefore, had it been outside. I do reset before this crash trip.

2011-12-05 11-38 7.log

2011-12-05 11-15-46.tlog
Arnt-Inge Hansen December 4, 2011 at 5:31pm

I've flown a few trips with my .55 Hexa today, stabilizer and alt hold running smoothly. The log is ok. Loiter is no good (have tried with P from 0.200 to 0.400 and I from 0.000 to 0.010. The best option that works for me, P = 0.300 and I = 0.000 when there is no wind. Copteret circles with 1 to 4 m circle.Have thought about the algorithm for Loiter can be changed to something like the stabilizer of .55. If the copter is standing still when I turn Loiter on, it can slip off to the side and after 1 to 2 meters starting the reaction with a large angle to get back. I have not tried Loiter P less like 0.200 but think that with the lower number will not work well when there is windy conditon.