Version 2.6 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Updates to MavLink 1.0 means you will need to use "ArdupilotMegaPlanner10.exe" to connect. If you've updated your mission planner recently you should find this executable in the directory where the mission planner is installed.
The above video is done using a prototype 3dr ublox GPS which seems to have better accuracy than the standard mediatek.
Improvements over 2.5.5 include:
- MavLink 1.0 support (use with ArdupilotMegaPlanner10.exe) [Tridge, Craig]
- Stability improvements especially during level hover [Jason]
- throttle range improvement (higher min and max) [Jason]
- improved standard Loiter PIDs [Alan, Heino, Jason, Angel]
- 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]
- Auto Approach [Adam Rivera / Marco]
Bug fixes include:
- UBLOX driver fixes (lock should now be more reliable) [Tridge]
- 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]
Tuning:
PIDs are optimised for the 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props and are seeing bad flight behaviour in stabilize, start by turning down Rate Roll P in 25% steps.
This time we spent some time optimising the loiter PIDs. Tuning loiter can be tricky so please refer to the discussions which will appear below for more community feedback on what parameters work best.
All feedback welcome below. Enhancement requests and bug reports can be put into 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 2.6 but tell us anyway!).
Happy flying!
Replies
Wow what a great release. I'm coming from previous MP released version which was already very nice but this is rock solid to fly. I've tried all the auto functions and it works perfect. I'm using 3DR stock frame, standard motors and 10" carbon reinforced props (makes big difference) and jani gopro mount, 3300, 5000 or 6000mAH 4S battery, APM2, xBee900MHz, Castle 10A BEC and soon to install sonar. Great work everyone. Thanks!
does the new version of MP still require Net framework 3.5? One a new laptop I'm having trouble installing UARTS and the ports aren't showing up in MP Also the arm and disarm text is missing
Been away for a while and just had my first flight with 2.6 on an old 1280. Planner 1.1.92
Great work team stabilize was impressive.
Noticed a couple of things though.
1. Everything up to 2.5.5, I could make fit by defining MTK16. This is the first time I have had to disable CLI, so I couldn't find a way to do an erase and reset in the planner. Had to reload 2.5.5, erase, then load 2.6 and do setup. Did I miss something obvious somewhere?
2. Now here is the weird one. With the Define GPS MTK16 line in place, the planner would only report 3D lock over USB. Over xbee it just said NO GPS. Removing the MTK16 line fixed it all up. I would like to still use the MTK16 in the Config.h for when the code starts to expand again in the future. Like a lot of people, I'm on a tight budget and would like to milk the 1280 as long as possible.
Is the Optical Flow Sensor already supported in 2.6?
I see there is still a bit of bounce on auto landing. This happened in 2.5 to me and it took about 4 to 5 bounces along the ground before it would stop. Because of the bouncing and some wind it flipped over a few times and broke numerous props. Has this been reduced in 2.6? Is there something that can be tweaked to lessen this affect?
Hi all, I have a small problem with the v2.6
I have a coaxial octo, 850kW, 10x4.5, 1650 kilograms XAircraft frame.
I never had happened, with no code to maintain Hight altitude, the quad is directed toward up front when I get the quad so stable returns to its position.
it's like 10 and 11 engines accelerate more.
has explain me is not even the acceleration of the engines.
Otherwise it is perfect.
On my Y6 I found 2.5 to be very stable . I have upgraded to 2.6 today, the throttle range is better, the Y6 is alot more responsive to any radio commands, but it drifts more than when I had 2.5 installed. It also yaws on take off alot more.
I cannot calibrate the compass in MP because every time I move the Y6 with the mini USB connected, I loose connection. I have read other APM2 users have this problem with the APM2 usb hub also.It is very sensitive to movement.
ACRO with 2.6:
this flight mode requires considerable experience and perfect control of the quad in any condition, if you want to try to make some quick flip try with Stabilize (the method suggested by Duran), Acro is for rc pilot with "high skill level and experience".
Long looping and tonneaux are only possible in Acro mode.
Bests, Marco
Wow! Just tried rtl and watched it land ON the takeoff spot. So far, I have had only 1 bug-
I have had this happen several times. I load a mission, then fly around, and at some point the mission gets corrupt. I did have good missions if I loaded and then flew right away,
Typically I load something like this-
After loading, I can read waypoints and it is fine. But after flying a couple batteries, it looks like this-
Is this happening when I change batteries? Or (I do have ch7 waypoint save enabled) is it getting a phony ch7 at boot? I will disable ch7 and try to duplicate.
I am confused as to what ch7 does to an existing mission - is there a way to clear the mission and do a new ch7 mission without a laptop?
It just keeps getting better :-) Congrats to all the developers
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