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
My APM2 came in this week. :-)
Today I had some time to test.
I used an DIY frame 50 cm with KDA 20-22L and APC 10x4,7props powered by a 5000mAh 30C batt
It flew very nicely with default pid's
One thing I'm battling with is the fact as soon as I swith to Alt Hold, lets say from about 1,5m, the quad goes up to 3 meters. Retried from 1m and again it goes up to 3 m. Above the 3 meter it stays at the desired height.
Its like the 3 m is the minimum.
I have no sonar attached.
Could this be a parameter??
Attached is the log
2012-04-13 20-56 8.log
My second APM1 board is missing a diode that some how got knocked off. Is it possible to just power the APM1 via USB together with the power hack?
http://diydrones.com/forum/topics/missing-apm-board-component-diode...
A video that is definitely worth seeing... nice job Jason!
Soundtrack: "Boards of Canada" (Dayvan Cowboy).
I flew my there rigs today but my laptop wouldn't boot up so i couldn't log the flight. Even though had a few issues, mostly had some good flight.
Is there anyway to get the logs from the board if it wasn't save to the computer? I also noticed that on decent the hex wobbles quite a bit. I recall there was some discussion on this issue. What was the final conclusion to the cause of this? I have a few other issues as well but I will check my hardware etc before I conclude if its hardware or software related.
Today, Nice loiter
2555-04-08 18-40 1.log
2555-04-08 18-41 2.log
2.5.3.param
This yaw problem is really bugging me. Compass calibration doesn't solve it (neither manual or automatic).
I've downloaded ACM2.0.49 and mission planner 1.0.88 and if no solution (other then rewiring my whole copter) is found in the comming week orso, I'm going back to 2.0.49. Even in stabilise it flew better then the current 2.5.3. With 2.5.3 I have some sudden very small movements of the hexa, which weren't there on 2.0.49.
I'm guessing all those people saying 2.5.3 flies great are comparing it to earlier 2.1+ releases and not to 2.0.49 ?
Hallo,
today I got bad results with 2.5.3 - yaw issue is really bad now. So I would like to test compass learnig and auto declination.
Compass leraning i can switch on in MP but auto declination is hardcoded I thing, isn't it?
Can somebody post me the code of it (don't know in which file it is located) that I can build own?
I would get it from GIT but still not very familiar with it ;o(.
Either the auto mode doesn't worked well for me although looked apart from yaw issue, the alt of WP was not reached at all.
Had set 2 WPs one with 30 meters second with 200 meters alt. Seems to me ACM tried to reach LAT and LON but completely ignored the alt - kept the alt of 30m.
Does anybody know what WP Alt is? I can see it in log it behaves strange.
Did some new tests today with version 2.5.3.
Loiter went very well and stayed within a 2m radius. Even pulled a leg for a couple of meters and it went to its previous position without any problems.
RTL works also fine but when landed it flipped over. I prefer that it comes home, loiters and then swith to stab and land it yourself.
This evening I went out for another couple of flight and this is the result. Second half is a little bit blurry because its was getting dark. Without the yaw problem it flies quit good. There was no wind. Will try the same when there is a breeze.
Also an odd thing was between flight when I changed a battery it flipped completly during take off resulting in a broken prop. Put on new prop and reconnected batt and took off again without problem.
I am new to DIY drone and need some advise.
Thanks to all dev , I have been able to fly stab mode with this version 2.5.3.
My config is a quad :
Frame :Black crow (Epoxy 46cm motor to motor)
Motors:Dualsky 2826CA-18 980 rpm/V
Props:10x4.5
APM2
Spectrum DX8 & AR6210
I am having the following problems
In stab mode the copter will shift always on theright side even after multiple calibation in MP or field éàsec Yaw left ( I can correct this triming on the reverse side then field calibration) power off /on with trim to zero) which is almost ok in stab mode but when switching to Alt hold or loiter the copter goes badly on the left side.
Here log & parameters
Thanks for any good suggestion
John
2012-04-03 10-10-58.tlog
Last1.param
I just wanted to ask to make sure about the esc/motor droping out prob that was supposed to be gone. went flying yesterday with 2.5.3 installed. things are much better but im still having problems with motors stoping and my quad falls out of the sky. ive done the individual esc cal many times and every time they all do like there supposed to. then i go to fly and sometimes i get a esc restarting just like when you first plug in or a motor just stops. throttle down and back up and back to flying until the next time. seems to happen quite frequent like every 30-45 seconds. everything is soldered, no plugs on motors or esc's.
apm1 2560 850kv 20amp esc gps mag no sonar yet. everything is diydrones stuff.any ideas. ill try to get logs in the next day or 2. hope ive given enough info.
thanks.
Mike
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