Version 2.4 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area. Although not as big a change as the 2.3 release, it still includes a respectable number of enhancements and bug fixes.
Enhancements:
- massive reduction in memory use (>2k saved!) due to Parameters change and APM2 baro lib fix. TradHeli code can again advance in hand with the quad code
- improved throttle range in stabilize mode. You may find that it takes slightly higher throttle than previously during hover but hopefully you'll find that you have more useable range of the throttle stick as well.
- added TUNE_LOW and TUNE_HIGH for CH6 Tuning (I.e. to set tuning range between 2 and 6 set TUNE_LOW to 2000, TUNE_HIGH to 6000)
- new ACRO_P gain for those who like to fly in ACRO (aka Rate) mode
- Loiter improvements including scaling of X speed
- Easier to use motor testing. see the videos for quad and octa-x-coaxial.
Bug fixes:
- remove unnecessary block for next GPS value before saving home location
- remove wobble on take-off
- turn off camera pitch control (which uses channel 6) when using channel 6 for tuning
- reduced rate of decent when landing using sonar
- Add support for CH_10 and CH_11 for APM2 users
- fixed Log_Read_Control_Tuning so that it doesn't read too many bytes
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 in 25% steps.
Thanks go to the numerous contributors including users and their detailed bug reports, developers and testers. Hopefully all together this will add up to a nice smooth release!
As per usual, please post your comments, issues in this discussion. For enhancement requests for future versions, feel free to add them to the issues list. Note: you can "star" an issue to receive emails when someone comments on the item. On the dev side it helps us because we can get an idea as to which feature requests are the most popular by sorting by the number of people how have starred each issue.
Replies
I successfully uploaded 2.4 via the MP to an APM 1.4 1280, thanks guys.
At the risk of nagging: is there any support yet for the X8 frame configuration in this release? Couldn't set it up using the MP Mavlink, can it be done via CLI? Thanks and keep up the good work.
BTW I can use Arduino but not clear as to what to tweak before uploading.
Hi,
when switching between Alt_Hold and Loiter I get some altitude deeps. See attachment.
Is Loiter holding altitude or only manual throttle?
Regards,
Pablo
PS: My Mission Planner has changed to spanish!!!!!
Alt_hold.jpg
WARNING: RISK TO CRASH YOUR QUAD AT THE MOMENT, DUE A DCM BUG!
There's big problem with dcm "fast" (I have already occurred), a complete blowup, stop to work and don't restore, high risk to crash if brings the quad to do pretty aggressive maneuvers.
The dear Roberto Navoni found the problem, and I replied for two times in a row in 30 seconds, with my little quad in my hands (disarmed motors), therefore is not a random thing, it's real problem.
Replicate the problem: quad in your hards, motors disarmed, nose up over 90°, i suggest 180, like inverted flight and again down (return orizontal), repeat the step some time and the DCM go in a complete blowup, now you can see the hud completely gray... blowup!
Apparently the problem occurs only without gps fix, regardless they should not do.
I tried both with 2.4, 2.4.1 and with latest GIT, the problem is the same.
The problem has been present for months, is that no one had ever noticed.
Alert was due, even if it is a situation quite difficult to replicate in flight, but regardless of this they should not do.
One thing is certain: HUD should not go gray! :-)
Stay tuned for future fix, and now fly at your own risk (my quad remain stationary for a while to the ground).
Here my video with the bug.
-= Marco =-
(AC Dev Team)
ArduCopter 2.4.1 on MP and GIT:
For all users who are already using version 2.4 I strongly recommend upgrading to 2.4.1.
That fixes a small problem, however, is not indifferent.
Is not necessary to reset the eeprom or APM after the upgrade.
The motors test that I created for the hexa is not included in the version inside the planner upgrade, but only in the GIT (at the moment)... thanks to Max Levine for the first structure of this code.
Marco
My quad still gets the "leans" bad, log file attached. My APM2 has been placed consecutively on 3 different types and densities of foam from firm to very soft. Problem still persists.
Hopefully (please) can someone analyze the log and figure this out?
leansflight.log
ArduCopter v2.4xp2: Here some videos samples of full AUTO-LANDING tests flights in HIL mode on AeroSIM-RC 3.83 with a Raptor 30 type helicopter (H1) done with the firmware ArduCopter v2.4xp2 (JLN mod). The official v2.4 firmware has been improved with a special Auto-Landing mod which uses only the BARO sensor.Tested with an ArduPilot Mega v1.4 connected in HIL mode on AeroSIM-RC v3.83 through the APM Mission planner.
Regards, Jean-Louis
ArduCopter V2.4 - Full auto mission and Loiter test with my little X-Quad X525:
Hi all! Today I focused my tests on all automated systems, especially the "Auto" and "Loiter" with my little "lab rat", X-Quad 525.
I found some anomalies which have already been reported and I hope will be corrected, including the critical parameters of the Loiter, unfortunately, still linked to other parameters, including "Nav" and "Stab" section.
All this of course does not in any way compromise the stability of this release, good for me, but some things they want improved to make it "perfect".
Here the video of the tests performed, waiting for your test.
Bests
Marco
Also trying to download my logs but am getting this below and it's taking a really LONG time...
Is this normal?
Just flown v2.4 on my ew APM2 which arrived this morning. Definately better than APM1, with APM1 I had to tune it quite a bit but with APM2 it flew very well on the default params (non standard frame - X525, motors - KDA20-22L, ESC - 2x25A TurnigySuperSimple, 2x25A Turnigy Hexfet.)
However I do have a case of the 'leans'. As the flight progresses the 'copter starts to lean one way needing nearly all the stick travel to keep it level, yawing seems to correct/affect it as the amount and direction of 'lean' changes with yaw.
Was there a cure found?
I guess now a guide for tuning the PID loops is a must as most of the beginners like me are doing it by trial and error and the wiki is more like tips and not a guide... So i request Chris, his Dev Team, also all the masters and brave testers to lend us beginners a helping hand and teach us how to tune the loops in order to get most out of the ArduCopter.
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