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
I'm running a tricopter (2.6 with Robert Lefebvre's yaw control branch) and am finding that my yaw servo will jam hard over to the right when disarmed, and today this led to the servo burning out. I only have one more of these servos on hand, so I'm quite keen to modify the code so that this will not happen again.
I see in another thread from late 2011 (here) about the same problem, It was mentioned that modifying radio.pde, and in the function void output_min() changing a line APM_RC.OutputCh(CH_7, g.rc_3.radio_min); to APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 300);
However it seems in 2.6 the function void output_min() only contains the following:
void output_min()
{
motors.enable();
motors.output_min();
}
Is there something I can place in this function to limit the travel of my yaw servo, and if so, what should the line of code be? If I added APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 300); within the function, is this still the correct syntax to have the desired effect?
For X8 coaxial quads using APM1, how do the channels out put the signal for yaw? The props on each arm in normal flight counter rotate at the same speed. However for Yaw to work the speed for the two props would have to be different correct? Can someone explain how this is configured for the 8X quad and what the props are doing for yaw?
Hi all,
just got back from field with broken tricopter ;o(
loaded v2.6 (slightly modified for LEDs, others untouched) and tried only basics (STAB, LOITER, RTL, AUTO, RTL ...)
When switched from RTL to stab copter seemed to not respond and gone away. I switched back to RTL but didn't help and copter fall down in the field. Luckily I found it ;o) (only broken arms and props). From logs I can see the roll (yellow curve) got crazy right before the copter fall down (around 7250).
Can somebody explain whats going on from log? (log attached)
2012-07-11 13-36 5.log
Does the code perform any level command on boot up or arm? I'm finding that the only way to get the horizon to show level in MP is to use the level button in MP. I've tried the 10sec arm to try and trigger the level and nothing. If I do the 20sec arm I go into the 45sec in-flight levelling. Is there a new procedure to force the level in 2.6 via the Tx? I loaded the 2.6 firmware via MP 1.1.96 Mav 1.0.
Even after forcing the level command from MP, after I turn off the APM and turn it on again the level is back out by 20deg or more in the roll. Boot up and arm does nothing to bring the level back, only via MP.
The APM 2 is a thing of beauty, and the platform goes from strength to strength, after the APM 1, I'm just chuffed with the new size, features, sensors etc.
I can't get GPS lock now though, since updating to the 2.6 FW.
Best I can get is two sats, even after an hour sitting outside in clear skies. However, as per other forum users, I plug in the USB cable, and I get lock within two minutes.
After some months sorting out a MinimOSD board issues with help from the great Sandro, so I can find home when I'm FPV'ing, I'm REALLY keen to get this going.
What parameters have changed to cause this, do you think?
Help please!!!!
Owen
Could not find any reference to this but has the boot issue with the APM1 been resolved in the APM2. That is, do I have to wait for complete boot up before applying ESC power anymore?
Anyway, 2.6 has been great for me in every way. The Rate and Stab loops seem to be more efficient, I have reduced both Rate/Stab P values from v2.55 with smooth predicable results. Below is on a very windy day at the beach but with good control. Rate P was down to .095 and Stab P was set at 4.6 w/ SimonK ESC's.
https://www.youtube.com/watch?v=EZiqrv-WMWM&feature=plcp
On Sanibel Island
Just came back from a fly with 2.6 on APM 1.4 1280
Own design hex that is quite heavy for it's size (hard finding light items locally)
Turnigy 2217 880kv motors. APC 12x3.8 props
AUW 2.4Kg
Flew very well in gusty conditions, reduced stab_p to 3.8. Handed the controls to a mate who only flies a HK450 heli and was amazed at how stable it was, so kudos to the dev team.
Next flight was time to try pos_hold. It was initially carried about 10m with the wind, but it fought back admirably. Had the slowly increasing circles happening, but some loiter tuning should help that. The turbulence off the trees wasn't helping either and you could see it fighting the gusts that kept changing direction.
Only had time for 2 packs, so next time out will be loiter tuning and I'll kick in alt_hold as well. Very happy overall. Oh! there were no yaw issues at all.
I tried to run and auto pilot mission last weekend. Im not sure I have the settings correct. The plan basically was to auto take off to 5 meters then after 30 second to go up to 20 meter, then 100, back to 40 then 20 and then land. But all it did was take off to 5 meters and just stayed there.. Can someone please look at the file and let me know whats wrong with it?
ElevMiss 5m 20m 100m 20 RTL.txt
What’s the LED_MODE parameter? I noticed that on 2.5 the default is 0 and on 2.6 it’s 9?
I still have an issue with GPS... I get a solid blue light on the GPS Unit, but the mission planner (connected via Xbee) does not pick up GPS signal. 0 satcount, but solid blue light... My GPS location does not show on the mission planner.
I am running APM1 with 2.6 (modified for octo quad)
Any help would be appreciated.
Thanks
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