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ArduCopter 2.5 released!

Posted by Randy on March 17, 2012 at 6:23pm

Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!

 

Enhancements:

  1. 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.
  2. Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
  3. 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).
  4. Increased output rate to ESCs to 490hz.  This update rate is also user selectable using the new RC_SPEED parameter.
  5. hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
  6. improved baro filtering
  7. fix to dataflash logging of Mag heading
  8. 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!

 

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Tags: acm, apm1, apm2, heli, quad
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Replies

  • Machinery Max June 5, 2012 at 10:59pm

    A quick question, sorry. How exactly is APM2 software update performed? When 2.5 was released, MP was updated at start. Does then APM get an update automatically when connected?

    I felt myself stupid being unable to find any "update" button in MP or even to see what version software is running now.

    Lurked wiki, yeah...

  • Developer
    Marco Robustini June 5, 2012 at 10:56am

    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

  • Guillaume Bourque June 5, 2012 at 6:32am

    Hi,

    any luck I could change the code to use output channel 2-7 on my APM2 for my 3DR hexa ?  I managed to fried output # 1 and would love to use other output channel if possible, see my post here http://www.diydrones.com/forum/topics/apm2-oupput-1-is-fried-may-i-...

    Thanks

  • Duran - ALTI June 5, 2012 at 5:41am

    Hey again all, just finished another big SteadiDrone octo build for a client, first time with APM2, all our other builds have been APM1. A few details, 1m+ Skyjib sized full carbon fibre SteadiDrone (we make them) octo airframe with quick release one screw pop out motor arms, 3D printed super durable and light motor mounts, carbon fibre flight control plate, dome (not fitted in this vid) 12" APC props, Photohigher AV200Pro mount with their retractable landing gear (working on our own gimbal currently)

    The whole kit comes ready to fly with everything needed, dual radio setup, video link, 3axis stabilized gimbal, pelican carry case, lipos, chargers etc etc.

    Below a quick clip of one of it's first test flights.

    Running 2.5.5 and it seems stable, looking forward to 2.6 and that new GPS unit!! (any eta?)

    Thanks again to all the hard working delevopers here! Any questions on bigger octos with APM pop me a message :)

    Thanks

    Duran

  • Gerrit Jan Baarda June 4, 2012 at 1:55pm

    Hi, I'm now fairly sure the cause of the strange flip I reported here is a software problem that was introduced between 2.5.3 and 2.5.5.

    I flew my quad today while downgraded to 2.5.3, with the same (PID) parameters as 2.5.5 and the flip/roll was gone. After I upgraded to 2.5.5 (from the mission planner, again with the same parameters as in 2.5.3) the flip effect is back again.

    I never flew 2.5.4 so I don't know if it is in that software too.

    Should I report this as a bug?

    Gerrit Jan.

  • Guido June 4, 2012 at 1:29am

    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

  • theo van niekerk June 3, 2012 at 7:12pm

    HI Guys need some help over here......finished my octo build....every thing goood :-)....only problem i have at the moment i seem to have a constant left yaw.....and little to no response when i counter it with stick input.....rather scary with a $1000 + rig.....any help would be great.....

    i have done live compass calibration.

    2012-06-04 11-41 6.log

    https://storage.ning.com/topology/rest/1.0/file/get/3692435311?profile=original
  • Developer
    Marco Robustini June 3, 2012 at 11:54am

    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.

    REMOVED: require some fix before release for tester!
     
    Improvements over 2.5.5 include:
            - Mavlink 1.0 support [Tridge/Craig]
            - Copter LEDs  [Robert Lefebvre]
            - RTL loiter stage target set to home (instead of current position)  [Jason]
            - Acro mode improvements (removed limits) [Jason]
            - dataflash erase speed up ('+' messages removed) [Tridge]
            - flip improvements [Jason]
            - removed duplicate GPS reads  [Jason]
            - WP Radius could not be set larger than 1.3m [Jason/Randy]
     

    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
  • stubugs June 3, 2012 at 3:47am
    Does the minim osd work with the apm2 as all I get is waiting for making data with no USB connected and using 2.5.5
    Osd works fine with my apm1 any ideas or recomendations chaps
    Stuart
  • Chris Kreuzer June 2, 2012 at 4:30am
    Any changes with minimOSD in AC 2.6?
This reply was deleted.

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