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.


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Have you tried to adjust declination in setup? For some unknown reason had my compass completely wrong view, I installed the latest (from.50 to .55) version of apm and everything was in ok

I just tested 2.0.55 on my 3DR frame and found it very tricky to fly. I thought it was much too sensitive. When I took a look at what I think the default gains were, I found the following. These seem significantly larger than those that Jean-Louis posted. Why would the default gains be set to such aggressive values? It seems that the defaults should be conservative and people would tweak to get extra performance from there.

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

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

Hello Martin, your are lucky, I need to find urgently a teleporter to go to California for conducting my tests flights... ;-)

Good tuning and flights....

Grenoble, no wind, sunny mountain full of snow.... No need to go so far away. :-)

The default PID's have always been like that for me but I got use to it and liked the responsiveness but then I tried jean-louis settings and it's definitely a smoother flight. Not great for zipping around but for soft flying and filming, it's perfect. Very easy up and down without the wobbles. Also .55 default PID is much better at descending. I need to enable ch6 tuning today and find the sweeeeeeet spot :)

I have a fix for this problem:

I've tested it on the ground with a Corona RP8D1 receiver and it worked, I'm waiting for some feedback.

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.



2.0.55. After 1-2 minutes of flight my quad begins to increasingly flip to one side and tend to crash. Feels like it opposes or even tends to return to location it's lost. Also the camera support leans to the opposite side as if IMU's internal horizon doesn't match the real horizon.

P.S. I have no compass, also changed no config due to basic X-config. 


For the camera problem you can reverse the movement of the servo with a parameter in the APM Planner.

Of course, Marc, I made all required camera tuning, and before flight it worked perfect.

But after minute or so of flight copter leans (and resists to Tx commands), and camera leans to opposite side.


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