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
Can we have some super capacitor on GPS module so it will get fix faster...my friend have the same one i think http://www.flytron.com/sensors/180-i2c-gps-for-multiwii-and-others.... but his one locks in 5 sec.....My one on APM2 needs 2-3 minutes.....if answer is yes how do i do that and with which capacitor?
Hello..I need help to understand what is wrong with my hexa...RCTimer3536 910Kv motors,13/6 props,sonar,APM2,3s6000MAh,3.1kg…it was flying very good and stabile last few days,alt hold,loiter…than yesterday I we received 3DRadio,433MHz two air modules one with fdti…it took me some time to manage to connect(ground air module refuse to connect if touching anything)everything seems to work well…and today on the field…hm…usually stable hexa was unrecognizable flaying around almost by itself..i recalibrated compass,gps was locked but still no help….wind was around, lets say 10kmh..at the end I forgot my battery and had a bit harder landing,two carbon arms broken….but all the time I had feeling something is wrong…can somebody take a look at my logs and tell me?i cant tell is it bcs of 3Dradio(connected to APM2 with very,very short telemetry cable who came with it sorry for my bad eng. i cant explain better..thanks
2012-05-05 16-52-22.tlog
2012-05-05 16-52-22.rlog
Sorry to ask an obvious question, but with 2.5.x being the first ArduCopter code release optimized for the APM 2, is the code also fully compatible with APM 1 under the current release? The reason I ask is I have been on an older code release for a while and want to upgrade to the most stable version. Hopefully, I will have my APM2 soon but in the mean time any suggestions would be greatly appreciated. Or put another way was there a GA release level reached for the APM 1 electronics prior to development focusing on APM2 moving forward?
That is my guess also, but then what is hit rad? hit radius, surely that is the same thing?
Good luck Dave, I intend to do the same, it will be interesting to see what the results are?
https://www.youtube.com/watch?v=2FKVRrJVa6k
hi
Yesterday I tested the 2.5.4 version, the first test near the ground with the sonar and the second test at 30m from the ground (baro) , unfortunately we see in the video just the first test because I had no battrie for cam, altitude hold and loiter works very well on this release, generaly my quadro stay in a box of 1m in both test.
this my setup
defaut PID
APM 1, 1280
Esc Hobbyking blue serie 30A
900KV
10X 4.7
frame gaui 500x
Guys
today I tested 2.6b again on my tricopter.
After some fligt in AUTO mode tricopter went creazy to roll and falling down of course.Then it fall down to ground.
When I looked into log there is it:
I can't now eliminate HW (one of ESC or motor) failure, because have no radio at home, will do tommorw.
2012-04-26 21-26 5.log
ArduCopter V2.6ß - Compass test
Hi all!
The team is working hard to make the experience ArduCopter increasingly stable and pleasant.
Today I tested the goodness of dcm, automatic compass calibration and auto declination, putting a strain on the stability of my little "kamikaze quad".
I apologize for "out of focus" and shaky, a friend lent me a little performance cam... :-)
Special thanks to Antonio Mattioli (the duty filmer).
Bests, Marco
re a post a few days ago if someone could please help me on:
http://www.diydrones.com/forum/topics/how-to-reset-xtreambee?xg_sou...
"I had a crash and the xbee came off the board and then I mistakenly pluged it back into the board in revers so the power pins were feeding the two signal wires. Now it wont communicate with the the gcs xbee. I swapped over the Xbee 900 to another xtreambee adapter and its working fine. So its now obvious there is a problem with the xtreambee. I'm still getting leds lighting up( the red the blue and the far left orange are solid) so it cant be totally destroyed. How can I try to reset this . I used the FTDI cable and X-CTU to try rest it,and although the FTDI comes up with a port number , the X-CTU wont detect the board and comes up with error, cant open com port. How can i try to rest the Xtreambee board and load firmware to the adapter board and see if this will fix it?
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