Jason is travelling this week, so I'll take the helm for the next software release post.
UPDATE: the motor remapping thing was confusing everyone, so we took that out and returned to the regular motor mapping. That means that APM 2 users with Hexas and Octos should wait for the next version. APM 1 users should be fine with any frame.
NOTE: Hexa and Octo users: there have been motor mapping changes that may affect you. Please don't upgrade until we can update the documentation to reflect the changes. This should happen by the end of the day today (Feb 1).
ArduCopter 2.3 is now available in the Mission Planner. This is the next revision of the ArduCopter 2.2B6 code, which is perhaps the most tested code we've ever released (1288 comments in the thread!) and certainly in my experience the best code, too.
The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P (default is 0.14, so start by turning it down to 0.1. In general tune PIDs in 25% steps).
Now that we've got solid code out there, we can turn to collecting suggested gains for standard frames, and a better guide to how to tune PIDs for your unique setups.
Here are Jason's note on the latest changes (mostly from 2.2B6)
A dampening term called STAB_D has been refined. A D term for all of the Rate based control loops has been added based on Igor's work. Landing for Baro and Sonar has been refined based on JLN's work. A slightly new approach to Loiter and Navigation is being used to try and linearize the pitch and roll for rate control. It tends to use lower gains, yet has a more assertive response in the air.
STAB_D : This is the gyro accretion dampener. This can remove small wobbles during sharp changes in angle commands. Making this too high can have a negative effect in performance and add a memory effect that can cause temporary loss in control. The in flight tuning is ranged so you are just below that effect.
If you haven't noticed before the control loops are in two stages. The first is a PI stage that converts some sort of position or angle error into a desired rate. These generally do not need to be tuned. They are more of a user preference on how fast you want the copter to perform a motion.
The second stage is the actual PID loop that needs to be tuned for the copter. This converts the desired rate into a motor command of some sort. I added a D term based on Igor's recommendation to the PI's for each rate controller. These should show up soon in the mission planner for the release. I cannot give you a concrete answer for how to tune the D terms, because they each depend on their function such as alt hold or loiter, etc.
Still, the absolute most important term is always the Rate_P term for each loop. Start tuning here.
The default PIDs are in the what flies great for a stock jDrones/3DR Quad with the purple motors in X mode.
Note the Mission Planner does not yet highlight these D terms on the main tuning page (it will soon), but you can find them and modify them on in the Parameters list.
Autolanding should now work well (see video above) and the Tri servo issue is now resolved.
The code should now compile with Arduino 1.0 (thank, Randy!), but remember that you need to use the "relaxpatch" version of Arduino in our downloads section.
[Update: we've reverted the below. See update at the top of the post]
Important for Octo users:
We've changed some of the motor orders for some more exotic airframes. We'll be updating the docs on the Wiki in a day or two to reflect this. Pat Hickey explains:
As before, the hexa plus APM2 motor setup has changed from the ordering [1, 2, 3, 4, 5, 6] to [ 5, 6, 1, 2, 3, 4 ].
The Octa V layout for APM2 is:6 42 58 13 7Motors 1 through 4 spin clockwise, and 5 through 8 spin counterclockwise.
Replies
Hi all, need some good reports about my "motors test" (preview from AC 2.3.1 code), if anyone ranked last GIT want to try please contact me, cool thanks!
It 's simple, intuitive and not dangerous, is performed with a very low rpm of the engines.
I need test in hexa frame (x and +) , "quad +" and octo (x and +).
I've tested only on with my "X Quad" and "X8 Coax".
Bests
Marco
Pfff,
I'm still having twitches with 2.3, even with rate D at 0.
To check there is nothing wrong with HW I reloaded v49 and it flies good.
Is someone using MT2814 with turnigy plush 25A ESC's??? Just to compare??
Also changed TX and RX.
I get some strange wobbling in air in stable mode. The quad is simple to fly and i dont have to fight it to keep it quite still, but it has some oscillations every 1-3 seconds, like its trying to correct something. When it does this it wobbles but it still corrects itself and keeps pretty still. You can hear the motors "does something" when this happens.
Has anyone seen anyting like this before? This is my 3rd test of firmware 2.3, apm1 and 3dr frame with stock motors and 10x4.5 props. Apm is not covered with anything, just stock 3dr mounting.. PID settings are stock except i sat roll p from the standard 0.0140 to 0.0120.
Here is a video of the flight, when you see the copter oscillate and at the same time hear the motors run up, im not doing that with the tx..its doing it by itself im just flying it slowly around, almost just floating it around with small stick inputs.
Also notice when i drive it up a couple meters the motors run fine without the twitching..
https://www.youtube.com/watch?v=5NJjCT9Oc0g
I cant get alt_hold to work on 2.3.
Switch to 2.1 and works ok.
Trying to understand the code I followed the altitude setpoint thorugh some variables until this:
static void set_new_altitude(int32_t _new_alt)
{
// just to be clear
next_WP.alt = current_loc.alt;
// for calculating the delta time
alt_change_timer = millis();
// save the target altitude
target_altitude = _new_alt;
I cant find _new_alt; in any other part of the program.
Can some one help me on this one?
Where is this variable set ot writen?
Thanks.
1.1.35 mission planner is out, is the firmware updated for arducopter in this one or is it still the same v2.3 firmware as last week?
There're my logs is 2.3.1 from GIT......Now , I still tuning Loiter mode but Stabilize is very Stable.
2555-02-11 03-51 1.log
2555-02-11 03-54 2.log
2555-02-11 03-54 2.kmz
Today only managed one flight because one of the motors ceased while in flight.
First of I basically used the default 2.3 settings, except I set Stab Roll and Stab Pitch to 4.00, I first tried to use some settings Marco recommended to try, but it kept wanting to flip over, so reverted to the this default I mentioned.
There was no wind when I got to the field but by the time I set up it had picked up to about 15kmh,, by the look of it the wind higher up was about 20kmh or more
Take off was ok and got up to about 35 meters and click into loiter, . Its did fix the position but it still kept climbing until about 45 meters where it settled there in about a 4 meter box.
After about 1/2 min I switched to RTL and then after a bit of a reorientation it headed towards the home point at the same 45 meter altitude and on the way one of the motors stopped turning (ceased bearing ). The quad (X8) hardly changed in its path and maintained stability even though one motor was out of action.
About the time the one motor had stopped it was nearly over the home position and I let it go for about 15 seconds more and it made to home and was obvious it held there ok,. But i was a bit worried it might stall and drop out of the sky so I switched back to stable simple mode and brought it down.
I have to say although a bit disappointing to only get one flight in less than 2 min after it takes me an hour to drive to the field., I was amazed how well it flew and especially after one of the motors ceased that is still maintained stability as if it was still running on all 8 motors.
Very impressed with the software that for sure and a testament to the dev team so well done. As well I was happy to finally get the rig the most stable its been yet. Cant wait to get it back into the air again
https://www.youtube.com/watch?v=RPbx543JY4c
I feel so bad in having to ask a question since I should be able to resolve this myself but maybe I missed something.
I have a APM1.4 w/2560 board that has worked well through many beta upgrades. But when I moved to 2.3 from 2.1 things are a little screwy. Loaded by M.P. My compass is 90 degrees off and drifts, the altitude is off by thousands of feet on the MP. It flies OK in Stable but just barely. Loaded 2.3 many times, clear, erased, reset, etc.
Do I need to load by Arduino 1.0 instead? Anything I need to do to the files before compiling (Quad X)?
Sorry to ask, I have spent hours reading the 2.3 post and the wiki.
Mat
I flew 2.3 today and generated a tlog attached. The arming starts near 30% playback.
This time it is a square. Waypoints were added using CH7. They are added when loiter mode is switched.
The landing was a little rough and I see that has been addressed in next update.
It really works well in auto mode.
Next maybe is to have it point forward toward the next waypoint?
I am yet to use auto takeoff because a version in the past flew it fast and hard right up against a wall.
If anyone has verified the auto takeoff is reliable I will try it again.
The gopro gimbal test video is neat.
Next step is to add this.
2012-02-09 02-14-17.tlog
I noticed that two of my motor pairs were tilted slightly and which was causing the quad to constantly yaw to the right always spinning. But even so I would have tough in stabilize mode without simple the AMP would try to keep it in one heading. Is this correct?
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