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
Just a thought,
Maybe it's already in there, but having an adjustable dead band for the manual over ride on auto modes seems like it would be a really big help.
In Alt hold, I often end up with the Quad continuing to rise or fall slowly, and I have a very strong feeling this relates to my throttle being just slightly displaced from the point where I put it into Alt Hold which would act to move the altitude at which it was held.
Possibly similar results on Loiter horizontally (drift). If there was a little bit of dead band this could be eliminated as even a a possibility, if it was parameter list adjustable, even better.
For the throttle you could dynamically establish the dead band center point at the throttle position where alt hold was engaged, for the other axes, fixed stick center would probably be OK.
The throttle is a particularly problematic example because if you use any Yaw control, you are bound to displace the throttle slightly.
If I'm completely off on this please let me know. and please let me know what you think in any case.
Hello,
I updated my vTailY6-APM2 board to 2.6 and MavLink 1.0
I flew a first flight to tune Acro mode then proceeded to Level mode. What a difference from 2.5.5: As I was struggling with wobble before 2.6, I'm really happy with 2.6.
I had a surprise when tuning Level mode. While testing some heading changes, I experienced a strange pilot reaction, like being in simple mode. Very uncomfortable when used to fly "normal" mode. At the bench I found a "simple" case checked near my level mode setting. I missed it before...
Altitude hold is perfectible, Loiter quite fine.
Thanks for your work,
MLB
With arducopter 2.5.5 I managed to read Analog Pin A7, with Arducopter 2.6 impossible to read Analog Pin from A9 to A4.
I need at least one Analog Pin to get RSSI informations, and with Arducopter 2.6, it's actually impossible
What does exactly "Copter LEDs" means? I mean, I know what LEDs are :). Just wondering if it had some standard hookup diagram and/or sequence.
Or has this code been included into the "core" (http://diydrones.com/profiles/blogs/u4eake-s-showleds-arming-and-lo...)
Hello All! Just had my first long flight with 2.6. It is FANTASTIC! Here is a little tip that gets repeated often in these forums and is equally as often ignored: Do NOT use bullet connectors! I was never a believer in the down side of bullet connectors, but I learned my lesson this weekend. The increased resistance of my crappy bullets caused excessive heat to build under my dome cover. Also, the connection was just intermittent enough to cause the timing to go out of sync between a few of my motors and their ESCs.
Am I right in thinking if I don't have a programming cable (have now ordered one) for the MiniOSD, I shouldn't upgrade to 2.6 as I can't update the MiniOSD to use MavLink 1.0 by any other means?
If this is the case, I think you you stick it somewhere on the post as a warning!
We tried out 2.6 yesterday on the Hex and small quad and its noticeable much more stable and easier to fly. Loiter was good and stayed inside a 2x2M box. There was no wind so yet to be tested in wind. RTL works OK as well but slightly drunken to start off with. RTL landing is between 5 to 10 meters from he home point so some calibration probably needed somewhere. It really over shoots going behind the home point a lot before it starts to find its was back. The throttle control fees so much better and easier to do soft landings than I had with 2.5s. Today I even managed to fly me small quad in the lounge room with 2.6 that's how much better it is.
https://www.youtube.com/watch?v=QkS1cc_6yzk&feature=relmfu
https://www.youtube.com/watch?v=EZluSgFTXm4
I have two AMP2 boards. I have both uninstalled currently and my first board is all in one unit, the second one has a separate GPS. Both boards have nothing connect to them. The first connects and shows GPS info in the terminal test window. The second one which is new and never installed, gives a time out message in the terminal test window for GPS. Is there a need to enable GPS when you get a board with no headers and a remote GPS?
The GPS has the blue on solid.
Wind dropped finally and could take the 2.6 out for a flight.
Did only stable, AH and a little bit of loiter.
Stable is very good. It seems to react to drift and corrects itself.
AH is not so good. I'm using the XL-EZ0 sonar and in the beginning it reacted very slow when I put my hand under it.
At the end it could quite hold altitude when below 3 meters.
Attached are the logs and you can see that the sonar works correct.
2012-06-17 22-31 1.log
Is there any documentation for using CopterLEDs? I do know about U4eake's showleds blot entry, just wondering if there's anything more current for the 2.6 release. Like which pins to use and how to control it.
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