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
ArduCopter V2.6 Gamma in the download area (pre-release version for testers only!):
ArduCopter 2.6 Gamma into the download area.
It's not extensively tested so please use with caution.
Improvements over 2.5.5 include:
- MavLink 1.0 support (use with ArdupilotMegaPlanner10.exe) [Tridge, Craig]
- dataflash erase speed up ('+' messages removed but it only takes 6 seconds now) [Tridge]
- Copter LEDs [Robert Lefebvre]
- RTL loiter stage target set to home to improve final landing position [Jason]
- flip & acro improvements [Jason]
- circle mode target improvement for ground station [Jason]
Bug fixes include:
- enable mavlink messages during dataflash erase which resolves issue in which new APMs fresh from the factory appeared unresponsive [Tridge]
- proper printing of lat/lon values in dataflash logs [Randy] - removed duplicate GPS reads [Jason]
- resolve flooding of telemetry link with low-battery warnings [Tridge]
- RTL bug would land if rtl_approach_alt was more than 1 [Jason]
- WP Radius could not be set larger than 1.3m [Jason/Randy]
REMEMBER: i tried all the features in a dozen flights, Stabilize/Loiter/RTL/AutoApproach/Autolanding and also ACRO and was very pleased but is gamma, use at your own risk!
When the Beta Tester Team will decide which is really stable Randy will make it available on the planner.
Cheers, Marco
Hi,
i'm using fw 2.5.5 and my quad fly very well. Only one question... there is a way to set a min altitude? (i'm using sonar). Because i fly in fpv, many time i go too much down and in fpv is hard to see the altitude, so if i set a min alt like 1,5 meter i can fly without difficulty.
Thanks
ArduCopter V2.6ß in the download area:
ArduCopter 2.6-Beta into the downloads area. It's not extensively tested so please use with caution.
Bug fixes:
- enable mavlink messages during dataflash erase [Tridge]
REMEMBER: i tried today all the features in a dozen flights, Stabilize/Loiter/RTL/AutoApproach/Autolanding and also ACRO and was very pleased but is beta, use at your own risk!
When the Beta Tester Team will decide which is really stable Randy will make it available on the planner.
Cheers, Marco
Any rough estimate on when 2.6 will be ready (1 week, 1 month, 6 months, next year) ?
O.k Marco here is Loiter Mediatek style with wooden frame and cable tie Tricopter :)
Simple mode with ArduCopter:
in this video i play a lot with "Simple Mode" for testing yaw/compass precision... :-)
I never use the SuperSimple mode, i don't like it, and if something is wrong with the gps can go wrong during hard maneuvers.
Bests, Marco
Using the USB when changing batteries is a good idea if you have the laptop with you the whole time? and in my case the usb port on my apm2 is very sensitive, if you move anything it disconnects. What I ended up doing which gives more than 15 minutes of time without plugging the main battery in.
Just a microswitch, diode and a single cell lipo. Plugged into the output rail. You can turn it on before flying so the gps gets time to lock or just between battery changes, and if you forget the diode stops the 5v getting to the cell. Just switch it on or off as required.. Simples
http://www.sparkfun.com/products/10317
Or can I just follow the instructions for adding a battery?
http://code.google.com/p/ardupirates/wiki/MTK_GPS_backup_battery?ts...
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