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
ArduCopter V2.4.1 (daily GIT version) - Compass issue:
Many users have already found the problem, then do not fly for hours with the current version of the GIT.
The new loiter works very well (by changing some default parameters), but with the compass that rotates it is impossible to test its true reliability.
Here my daily video with the compass bug, already reported to the dev team... and now it's freesbee time! :-)
-= Marco =-
(AC Dev Team)
Does anyone use the firmware version that is now in the MP ? There are major issues ?
"sudden-death" lean - firm foam mounts.
Red & green lines shows sensor out, pink & green shows attempted stick correction (pink is greater as it was coming straight towards me!)
Getting compile errors with current git version? (have pulled new version (and libraries) from git, I'm using 0022-relax or 0100-relax)
In file included from ArduCopter.cpp:93:
GCS.h:129: error: 'ParamToken' in class 'AP_Param' does not name a type
ArduCopter.cpp: In function 'void update_trig()':
...
Something I'm missing?
ArduCopter v2.4.1 and latest fix on GIT:
I read with pleasure that your flights are still without any problem, well, I'm happy, even if we do not recommend to fly with the version currently in the planner but only the GIT version, where the problems seem to DCM and "throttle_cruise" are solved, at least from my local tests.
The evolution of the code I remind you that you can see here:
http://code.google.com/p/ardupilot-mega/source/list
-= Marco =-
(AC Dev Team)
Will try a few more things to get rid of my "leans" problem otherwise I'm going to shelve APM2 for a while and go back to APM1 until this gets sorted. I've just installed my 6th anti-vibe foam type (2 types together now actually) and will try again in the morning.
Graph of my leans problem. Log attached.
During this last flight I had to hold in more and more roll and pitch to offset the lean, it's like the trims were moving by themselves.
At the end I landed and took off again and the effect was diminished but still present. This is different to the sudden death lean that I've had (and posted about) previously, that was rapid, happening in a less than a second, whereas this is gradual increase.
I've removed the motor mounts and mounted the motors directly onto the aluminium arms but with 1mm rubber strip between motor and arm and between arm and bolts, so the motors and their bolts are 100% insulated from the arms. I tried adding 10g of lead the the APM2 board but that made flying worse as predicted.
Next to remove the soft foam and put something firmer in place.
Lean_prob1.log
While I think the new motors CLI test is useful is there a way of checking the pitch and roll inputs like the previous version?
Thanks
My current APM2 anti-vibration mount (re: trying to solve the "leans" problem):
Maybe the soft foam is too soft rather than too firm?
Just got the APM 2 in today. It linked up well to the copter frame based on the APM 1.
Tomorrow I will fly it with a camera gimbal.
It will be interesting how the certain vibration harmonics happen.
Testing.jpg
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