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
Hi,
were do I find the manual compass calibration mode in MP?
Regards,
Pablo
Does anybody know if the Ch7 Auto-trim works? I tried using it, set Ch7 to Auto-trim in MP. Took off, got into a hover, flipped Ch7 high, hovered a bit, flipped Ch7 low, but it didn't seem to do anything.
Am I doing it wrong?
Just flew 2.5 with default pids and all I can say is WAW.
I flew in no wind conditions. I noticed allmost no drift an could keep my hands of the tx for a lot of seconds just in stable.
AH was very good, but still had some drops, propably due to cold.
And loiter just stayed in one place with minor drift due to gps pos shifting. I even pulleda leg for several metres and let go. Quad returned nicely to its previous postion.
Logs are included. Pleaselook at sonar height.
2012-03-19 10-54 2.log
I got just my quad flying. I can't wait to try this. Thanks so much for your hardwork! I will post some additional feedback when I get my new props and have a chance to fly again. ;)
Thanks to everyone for the flight reports and logs, which are very helpful. Going from private beta testing to public release increases the number of test flights by orders of magnitude, which has been great in catching a few edge cases that hadn't come up in the dev team testing and sim process. Most of these are pretty simple one-line bug fixes, and Randy, Jason, Tridge and others on the team have already fixed most of them for what will be the next maintenance release, 2.5.1. It's in the Git repository now, but if you don't want to use Git you can load the code from the downloads section here.
Fixes include catching an unititiated variable that caused Loiter to zip off in some direction at first use under some conditions, some default gain adjustments, a fix that won't let you enter way out of range parameters in the Mission Planner, and a bunch of others you can see here.
ArduCopter V2.5.1ß - Perfect Loiter (APM1 - Sonar - Light breeze):
Revision: 0566b08ae541
I apologize for the poor video quality, not the usual which I have used, I had my fullhd cam available but I wanted to capture this loiter to make you see, after one hour of "ch6 tuning".
The small shifts are only due to error of the gps.
Inside the zip: parameters, log and tlog.
Marco
2.5-Marco-perfect_loiter_logs-param.zip
Did the arming procedure change? gps is blinking, and before the red led used to stop flashing when gps had a lock even before you armed it. Now gps is blinking and never stops blinking until I arm it, it then immediately stops blinking. Is this a correct observation?
Hi all,
As I'm about to leave for the field to test 2.5 outside, just curious, is the ACCEL_ALT_HOLD operative? if so what's the difference between values 1 and 2? I understand 0 does nothing...
thx
I have been flying so much I haven't had time to reply. Great work dev team. This is a fantastic leap forward.
I've loaded 2.5 in my DIY quad flying +, and a friend's X, heavy unknown quad, and other than having to fiddle a bit with the TRIM-THROTTLE to get it to Alt Hold, I think this code is a winner, as stability goes.
Will try all the other functions later this week.
Thanks again team !
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