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
@Randy, this thread moves so quick things get left behind, any comments on a minor issue I raised: here
Basically to tighten up on control so it doesn't feel like you're flying with "loose linkages"?
Hello,
Here a new video of a LOITER test flight in windy conditions (13 Km/h from S-O) with the beta Acducopter v2.4.2b firmware (with the latest Jason's fix) currently under test in the AC dev Team. There was a small drift due to the wind because I have set a too much low Integral on the Loiter. The quadcopter was really reactive Vs the gusts and very stable as you will notice in the video.
Regards, Jean-Louis
Is it possible to have the Mission Planner have a pop up window that shows what was updated after each time we do an update ? This will save as trawling through all the forum ect to find what was done.
Minor issue: Every time I start a new flight I have to trim my 'copter to fly completely level with my Tx, this is after leveling in MP on a measured level table (and yes, of course, the APM board is level and not moving in flight), also this is in completely calm air and out of ground effect?
In flight also the 'copter doesn't stay completely level even after trimming, I'd liken it to small amounts of free play in the servo linkages of a helicopter or plane, something that I have tried hard to minimize in my heli's and planes.
Is it possible to "tighten up" on keeping the 'copter level?
Further to my "leans" problem, humble Velcro seems to have solved the problem, high-tech solutions did not help, I did however have one further brief incident in the 2nd of 12 batteries I flew on Sunday, but (almost-crash) landing briefly and taking off again fixed it.
FPV flying was HUGE fun as was flying in dead-calm conditions at dusk with all the LED strips blazing.
Good work dev's! (...and thanks for responding quickly and positively to enhancement requests and issues posted!)
this new motors test does not work for me. first i have a APM 1 setup in X... now when i start the motor test motor 1 spins fast.. not like in the vid then motor 3 spins fast and dont stop.... i did test this last week with the old motor test and it was ok....any help
Anybody else have a situation where, after booting up, the first time you arm the motors, they stay armed for some time less than a minute, and then disarm for no reason. When you re-arm, it then stays armed.
Not a problem for a heli thank goodness. I think it's just my APM board is messed up, but just checking.
HI,
roll and pitch angle are converter from RC to a max of 45 degrees:
Radio,pde
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
But later are constrained to 25 degrees:
Arducopter.pde
#else
// limit the error we're feeding to the PID
target_angle = constrain(target_angle, -2500, 2500);
This means that joystick usefull travel is only about 40%.
Wouldnt it be better:
Radio.pde:
#if FRAME_CONFIG == HELI_FRAME
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
#else
g.rc_1.set_angle(2500);
g.rc_2.set_angle(2500);
#endif
Can we get banking angle adjustable from Mission Planner?
Pablo
I've just loaded the latest code and hovered around the garden a bit.
Only used Stabilize mode, is VERY stable.
Thanks dev team !
This is not working for me.
Please take a look to attached pic.
Flying 2.4.1.
Slow flying and turning around, is not a problem. It flys smoth and nicelly.
Now I have tried following:
Fly 30 mts away, and then return fast in stabilized mode. When trying to stop the movement I input pitch in the opposite direction. The copter pitch for some seconds in the correct direction and then stops reacting to the pitch input and takes some time to recover.
This only happends if there is some speed involved.
The copters reacts very well to high pitch commands as long as there are no big desacelerations.
Any advice? I have had already to many crashes....
Would this get any better with APM 2 and DMP?
Pablo
ATT_PRO.jpg
Here a video of a test flight of the latest firmware ArduCopter v2.4.2 (beta) with the new fix on DCM and the magnetometer setup. This version tested in flight include also the AUTO-LAND and Helicopter type H1 (HIL) mod XP2 (JLN).
Wind: 15 Km/h from N-W
The LOITER (baro only) is very stable in spite of the wind and there is no drift in the yaw. The flight is very stable.
Stay tuned, this new version 2.4.2 will be soon on line for download in the official repository...
Regards, Jean-Louis
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