Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Enhancements:
- The first ArduCopter code release optimized for the APM 2. Leans and drift should be much reduced or even eliminated for most users. This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- On start-up, the yaw heading is updated with first successful mag read (so you should no longer see the slow rotation from north to your actual heading).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- addition of H1 swash plate type and bug fix for proactive yaw compensation for collective pitch changes for TradHelis.
Tuning:
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.
While some testers have reported very good flights with the default PIDs, some have reported that this release is a little "sharper" due to the DCM improvements and have found they needed to:
reduce stabilize P by 10% (i.e. 4.5 -> 4.2)
reduce stabilize D by 30% (i.e. 0.15 -> 0.10)
increase rate D from 0 to 0.001
Tuning loiter can be tricky. Refer to the discussions which will appear below for more community feedback on what parameters work best.
Please post your feedback in this discussion. For enhancement requests and bug report, please add them to the arducopter issues list. When possible please include logs (tlog and/or dataflash) and tell us whether you're using APM1 or APM2 and what version of the software you're using (presumably 2.5 but tell us anyway!).
Thanks for this release go to the developers (both in the core team but also those who have provided bug fixes through the issues list) and also the community members who participated in the previous release thread and provided some great detailed information in the form of issue reports and logs which allowed us to nail some bugs!
Replies
Nice morning today and noticed 2.5 was released, so I did a mission planner update to my new 3DR w/850kv motors and APM1. I think I followed the online manual to the "T" and headed out to the field for a maiden flight.
I put it in stabilize mode for a few minutes and tried the alt-hold after that, that didn't go well and switched back to stable mode. After a while, about the 8:39:10 time stamp mark I lost stability then again at 8:39:30, and 8:40:46 & 8:41:54. Then at 8:43:23 it flipped and bent a motor shaft on me.
I been trying to understand what went wrong all day and thought I ask for some help. Is this the right place to ask?
I'll share my log file if it helps and a video too soon.
Keith
2012-03-18 08-30-25.tlog
yay! finally can't wait to build mine
Y6 is now flying awsome! switched to a beater frame to fiddle with the PIDs'. Stab_P had to be decreased considerably. Cranked up Stab_I, Stab_D and Stab_Yaw and this thing now flies on rails. Like my quad Altitude hold and Loiter is the best yet. Using APM1/2560.
I have had a problem with Mission Planner for a while now that the main window doesn't open up but it opens in minimize to the tool bar. The terminal window opens ok, but not the main window. Even if I click on it, it wont open . I have to hold the cursor on the top of the popup image from the tool bar right click and select maximize to get it to open. This happens on all my three computers running Win7.Now on one of them I cant open it at all. When I right click it just closes. There is obviously an issue with Mission Planner and Win7. Can someone please take a look?
HI Guys
I have a DIYdrones hexa with the 850Kv motors. I just upgraded to MP 1.1.53 and loaded my APM1 with version AC2.5. Now the APM can no longer connect with the mission planner in any way other than "Firmware" and "Terminal". Directly connecting using the "Flight Data' tab and clicking Connect is not working at all (lots of "bad CRC" errors in Mavlink). I can get connected by first going to the terminal tab, getting the prompt then clicking the Flight Data tab and clicking Connect. However although the connection appears successful no data is actually displayed.. All works OK (or so it seems) using MP 1.1.48.
Anyone having this issue??? Is there a fix.??
Thanks ---- TOM
Had six flights with 2.5 from git on a standard 3DR with 850kV motors and APM1. Stabilize mode was fine without any work. Loiter was a bit harder. At the start it would move move in ever larger circles around the initial point, increasing the pitch and roll angles towards the center as the circles got bigger. I then started bringing down the loiter gains and it calmed down - I can`t say it was great, but it did hang around the initial point. Probably can't do any more until next weekend, and want to read up on the relationship between the basic Loiter gains and the LOITER_LAT/ LOITER_LON gains before any more tuning.
WOW!
GREAT JOB GUYS!
That is all I can say for now... this version is super stable, no drift, no strange things... (well maybe some... :) )
First impression are really great, this thing is rock solid, stable and all. I did ran out of juice battery so I did not get to enjoy it as much as I would have like. Batteries are charging now and I will be out soon to play more.
Yes I said play! it's no more difficult, not risky (at least for now, no bugs = good news)
I really enjoyed it!
In my small backyard, some side wind, not much, sunny and all! wow!
Here is the "problem" after some flights the Quad developed the "Yo-Yo" effect... you can see that my throttle was somewhat stable but the Quad was going up and down...
This is a brand new X1 frame that I've put together for the occasion so yes it was the maiden flight!
here is my config,
850Kv jDrones super sexy black motors
10X45 props
20A jDrones ESC
X1 frame (did I say fold able for storage? hehe)
3300mah Nano-Tech Battery
Weight 1.170 kg
Only changes to the PID were for the TRIM_THROTTLE to 475 as otherwise the default was making the quad fall down. (guys please make sure to increase this value as your Loiter will bring down the Quad!)
Turnigy X9 radio (with some mods....)
- No sonar... nothing else... almost "Straight out of the box" !
And this is the video: sorry for the poor quality and zoom... iPhone taped on the patio door! :)
Attache is the complete log of that session... if someone wants to have a look at my YO-YO effect... I did not ruled out yet the low voltage on battery... maybe it was just that... will post back when I fly with fresh batteries (yes more than half one this time!)
I want to say thanks again to all involved, from devs to testers! This is a great milestone release, let's see where we go from here.
Dany
www.CanadaDrones.com
2012-03-18 02-12 1.log
tlog file...
Eddie
2012-03-18 05-58-17.tlog
Just crashed my large Tri-Copter....AMP2...2.5..
In Stab... Flying forward... Pulled back hard and the Tri went noze up 90 deg... This has happend before many months ago and many versions ago... though it was gone...
Loiter did not work so well either... Alt hold (baro) is really good ... plus or minus a few feet...
In the Graph below I am faily sure these lines shoud not diverge !!
screen cap2.jpg
2012-03-18 05-44 96.log
Tried out onboard video with v2.5 after having sorted out vibration insulation problems for the camera.
https://www.youtube.com/watch?v=GhHOx-5IlPk
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