ArduCopter 2.5 released!

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!

Hi All,

Y6 Hexa (aka Skybot)
Arducopter v.2.5
Default parameters
Motors:BC-2836/7 1120kv
Props:10x4.5
Weight:1950gr + Batt.
Size: 57cm motor to center
APM1

Sunday evening I tested 2.5 indoors, all I can say is WOW (as many have already :-) ), using stock params STABLE was almost great except for the yaw, that tended to always come back (overcorrecting a lot), tuned it and got it better, a couple of times it would just keep turning no matter what correction I tried (1:56 to 2:20) I ended up landing.

ALT_HOLD, did some yo-yo, but a bit of tunning got rid of it

https://www.youtube.com/watch?v=7cPcOSlT-wc

On the sixth or seventh flight, while doing a vertical shot from about 10m a loud BANG was heard, and it started to woble, I managed to land, and guess what, the rear bottom prop was GONE, found the pieces some 20m away!! Well, must have been a defective prop (I thought), here's the video:

https://www.youtube.com/watch?v=0bKRvSyagL0

Moday evening went for some testing outside, lots of wind some 20km/h, but quite constant. Couln't try loiter, as it would not detect my MTK GPS :-| (still got to investigate that)

Tuned the yaw, and the ALT_HOLD, this has been the first tima I was able to fly some nice traslations, really responsive.

But alas, on the third flight decided to do a high shot with the GoPro, so, I mounted the camera, and the 4S 5000mA, I first did some hovering, pointed the camera, then applied about 75%-80% thottle, and up we go. At about 30m something was heard, and saw many bits flying around!! At least two or three props broke!!!!

It went down spining violently, it landed flat on it's back, the three alu arms are badly bent, new ones required, all 6 props gone!! no other damage.

So concluding: 2.5 is a winner, never flown better and felt really good.
As for my Y6 Hexa, I believe that heavy copters (+2kgr) must use better/bigger props, it flew very nice with those black 10x4.5.

Any suggestions as what props should be used in a 2.5krg Y6 with BC-2836/7 1120kv??

I'll rebuild the bird and try better and or bigger props.... Never trust cheap props....

btw, has anyone else broken a prop in mid air??

Congratulations Dev Team!

Replies

Rida March 21, 2012 at 8:08am

I just fly my quadrocopter with the amazing firmware 2.5 and I am very happy, Stabl Mode, Alt-hold, and Loiter work fine for me, i will test RTL and Auto soon :) :)

Here is my setup:

Gaui 500x, 900Kv, 10x4.5, esc hobbyking blue serie 30A

APM 1 (1280),

ACM 2.5

compass,

sonar,

Marco PIDs. :)
palo sestak March 21, 2012 at 5:52am

Hi,

just returned from field and very glad with stabilize mode. Loiter not so good, starting circles with diameter cca 12 meters.

Wind was 1-2 m/s.

RTL good, very satisfied, AH seems to be good too, not that accurate because of sonar lack, just baro.

But AUTO doesn't work at all. When switched to AUTO, tricopter began descend, not too hurry, to me appeared like it want to land but I don't have AUTO_LAND even set in my flight modes.

Here is my setup:

Tricopter classic (not Y6), arms 40cm, TOW cca 1100g

APM 1.4 (2560), IMU Shield/Oilpan Rev-H

ACM 2.5.1beta

compass,

without sonar,

Default PIDs.

If someone interested I can upload logs.
Developer

Marco Robustini March 20, 2012 at 11:43pm

ArduCopter V2.5.1ß "yaw issue" (compass):

Reading your comments and reports on the dev list now that I think yaw is very involved in the dcm, so it is centered just two parameters that are within the dcm library, specifically in the file "AP_AHRS_DCM.h", in the line #20 and #27.
The complicated thing is find the correct parameters for your quad.
It's just a PI controller, the compass corrects the yaw as calculated by gyros in the dcm.
So if you feel the yaw is getting corrected too aggressively you just decrease these two parameters.
If you turn them to zero, then there is no correction done at all (thanks Justin for this):

_kp_yaw = 0.4;
_ki_yaw = _gyro_drift_limit * 8;

Unfortunately I am busy two days for an important job and I do not have time to play with these two values, but I hope some of you, of course expert, try to hit the correct parameters for your quads and let your impressions and value here.
Do not increase too much these two parameters and I repeat, this thing is only recommended for advanced users.
I await your report, thanks!

Marco
T3

Aerhead March 20, 2012 at 9:43pm

Developers

2.5 is amazing firmware when it comes to easy flying. The quads attitude is holding very well compared to 2.4.

Is the altitude hold fixed in the 2.5.1 firmware? When do you expect to have it available in the Mission Planner.?
Owen Booth March 20, 2012 at 1:50pm

Hi there. Great job Dev Team, you guys are legends, and every new update is like a Christmas present that keeps on coming!

Does anyone have recommended PID's for the Droidworx Hex AD-6, with jDrones 850Kv motors under 10" props?

thank you!
Crispin March 20, 2012 at 1:38pm

Thanks devs! just took my 3DR quad out with 2.5 on. A lot steadier and smoother in a hover. I used to have a drift to the left which needed 3/4 trim to keep it kinda still, this is now gone. It just sits where I leave it (with a small amount of drift eventually)

Throwing it around is also a lot more fun. It is a lot sharper on changing direction. Makes the old version feel like it was in water. Changing altitude is also a lot better if you stab the throttle. Seems a lot quicker at doing that.

Thanks again. Roll on weekend!
Developer

Marco Robustini March 20, 2012 at 10:29am

Question about the version 2.5/2.5.1: have you noticed differences with APM1 and accuracy of the yaw?
I mean compared to version 2.4 or earlier (like 2.1), in keeping the position with compass.
Give me your impressions, it is important, thanks!
David Leigh March 20, 2012 at 4:39am

Hi Randy,

My Quad using software 2.4.1 was working in all Modes without problems using the default settings. Using a APM1, standard motors and ESC.

Under software 2.5 -

I am still having problems with ALT_HOLD and RTL with Quad dropping to ground when these two modes are selected even though TRIM_THROTTLE has incremented to 528 after several flights. Stability Mode is working the best I have seen the Quad operate. What other setting can I try to resolve this problem?

Regards David
PACEFE March 20, 2012 at 2:21am

Hi,

were do I find the manual compass calibration mode in MP?

Regards,

Pablo
Dani Saez March 20, 2012 at 2:21am

Hi All,

Y6 Hexa (aka Skybot)
Arducopter v.2.5
Default parameters
Motors:BC-2836/7 1120kv
Props:10x4.5
Weight:1950gr + Batt.
Size: 57cm motor to center
APM1

Sunday evening I tested 2.5 indoors, all I can say is WOW (as many have already :-) ), using stock params STABLE was almost great except for the yaw, that tended to always come back (overcorrecting a lot), tuned it and got it better, a couple of times it would just keep turning no matter what correction I tried (1:56 to 2:20) I ended up landing.

ALT_HOLD, did some yo-yo, but a bit of tunning got rid of it

https://www.youtube.com/watch?v=7cPcOSlT-wc

On the sixth or seventh flight, while doing a vertical shot from about 10m a loud BANG was heard, and it started to woble, I managed to land, and guess what, the rear bottom prop was GONE, found the pieces some 20m away!! Well, must have been a defective prop (I thought), here's the video:

https://www.youtube.com/watch?v=0bKRvSyagL0

Moday evening went for some testing outside, lots of wind some 20km/h, but quite constant. Couln't try loiter, as it would not detect my MTK GPS :-| (still got to investigate that)

Tuned the yaw, and the ALT_HOLD, this has been the first tima I was able to fly some nice traslations, really responsive.

But alas, on the third flight decided to do a high shot with the GoPro, so, I mounted the camera, and the 4S 5000mA, I first did some hovering, pointed the camera, then applied about 75%-80% thottle, and up we go. At about 30m something was heard, and saw many bits flying around!! At least two or three props broke!!!!

It went down spining violently, it landed flat on it's back, the three alu arms are badly bent, new ones required, all 6 props gone!! no other damage.

So concluding: 2.5 is a winner, never flown better and felt really good.
As for my Y6 Hexa, I believe that heavy copters (+2kgr) must use better/bigger props, it flew very nice with those black 10x4.5.

Any suggestions as what props should be used in a 2.5krg Y6 with BC-2836/7 1120kv??

I'll rebuild the bird and try better and or bigger props.... Never trust cheap props....

btw, has anyone else broken a prop in mid air??

Congratulations Dev Team!

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ArduCopter 2.5 released!

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