Arducopter 2.7.2 is now in the mission planner and in the downloads area. Some positive reports on testing can be found in this discusssion by John Hanson.
Note: just as the release was going out an issue was found re support for the all Camera Gimbals on the APM1s (it doesn't work) and with 3 axis gimbals on the APM2 (2-axis works ok but not 3). If you're one of these people, please wait for 2.7.3 which will be out shortly.
UPDATE: 2.7.3 is now in the Mission Planner
Functional Improvements over 2.7.1:
- Fast waypoints (Jason) - if the turn angle between two waypoint the copter is less than 60 degrees it does not slow down
- Navigation improvements and logging including switching to filtered location for distance calculations (jason)
- Flip improvements - more aggressive and flexible flip code based on attitude instead of timing (Jason)
- Improved camera control - you can now control any axis (roll, tilt, pan) with any rc channel. it probably makes most sense that you will use 6 but others are possible too. Unfortunately these changes required we change the set-up procedure so the mission planner gimbal set-up screen needs to be modified again. Please refer to the AC_Camera wiki page for how to manually set-up the gimbal (Amilcar)
- Flybar acro mode for TradHeli (Robert)
- "Fast gains" - allows strong correction of attitude using accelerometers while the quad is stationary on the ground but relies more on gyros while flying (Tridge, Jason)
- Baro filtering improvements (Tridge)
Bug Fixes:
- DMP timing fix (Randy) - the MPU6000's dmp unit was inadvertantly turned on and caused timing delays in the main loop- xbee bricking issue (Craig / Tridge)
- Dataflash fixes (Jason)
- Engine ticking - was a combination of roll/pitch rate D term being too high and the dmp timing fix above (Randy, Emile)
- Faster heading correction on start-up - resolves issue with simple mode getting incorrect heading if you took off very soon after start-up (Tridge)
Code Cleanup:
- Increased maximum number parameters (Tridge)
- Formatting changes to code (Pat)
- Replaced "int" with "int16_t" everywhere (Randy)
As per usual 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.
There is still some question on whether the default Roll/Pitch Rate P (0.175) is high enough (it was 0.185 in 2.7.1) and also some people feel the Throttle Rate should be higher (currently 0.300 but some say 0.330 or even much higher would be better).
Please feel free to report issues you find in the discussion below and/or add them to the issues list.
Thanks and enjoy!
Replies
OMG what have you done????? It works really great! I started with 2.7.1 and 2.7.3 feels like a new quadcopter!
My setup: APM 2.0, orig. Minimosd, DJI frame 450, Robbe roxxy 2827/26 @ APC 10/4,7, Skywalker 20A ESC (currently at 490Hz), extra BEC 5,4V, Frsky d4fr cppm mode, Lipo 3s 3300 25C, FPV Sony CCD/immersion Rc 5,8 GHZ, ca. 1,1KG ready to fly.
The first start on stock settings was great!!! But i always fiddel with rateP. I could crank it up to 0,2 (and even more!) without problem! (2.7.1 rate P 0,9 - 0,1). I reduced stab P from 4,5 to 4,0, just my liking. Rest unchanged. Althold works very good. Loiter with stocksettings on not perfect calibrated Mag: 95% of Naza. I softwareupgraded and flew my nazasetup only 1h before - so i have direct comparison. It's a shame to compare the APM to Naza - forgive me! I just do FPV so no waypointflying tested, RTL is assigned to a switch and failsave but untested. But what i have seen from loiter it should work as well.
It flies stable like a rock!
THANK YOU SO MUCH !!!!
Kraut Rob
Bonsoir à tous,
J'ai testé 2.7.3 cette après midi
config APM 1.4 ,sonar XL,DJI cadre 450 PID d'origine
Stabilize est fantastique ! (bravo l'équipe), mais depuis 2.7 Alt Hold & Loiter ne fonctionne plus,plusieurs essais PID sans résultats ???
2.7.3 est-il réservé à APM 2 ? ou APM 2.5?
j'avais de bons résultats avec 2.6.0
merci de votre aide
Daniel chapelat
Hi
Just tested in stabilize(my level) and still as good as before. When I grow up, I'll take on the T3 chellenge.
Thanks guys,
Great effort
Hi all,
I just tested version 2.7.3 on my 2 apm1.4 and it is a disaster ... 2 quad-based clone DJI have their engines completely crazy, despite several settings of PID, whenever I've erase and reset , by cons soon as I returned to 2.6, no worries ....
I tried it the 2.7.3 on my Hexa APM2 in, and it works perfectly after some adjustment of PID.
Since version 2.7, the APM1.4, the code has never worked properly. they have the same configuration:
DJI frame, engine 2830/14, esc 30A, magnetometer, sonarXL.
You have found a way to make us upgrade our cards, this is humor;-)
By cons I continue to fly my 2 APM1 to 2.6 with no problem ....
Firmware 2.7.3 is awesome, thanks guys for the great job, it's the first time my hexacopter is working so nice and huge improvement for baro, it's like my copter is flying with DJI :)
I'm using standard PID, no tweaks (Except for Alt Hold)
My configuration :
- Hexacopter
- Mystery 20A Blue Series ESC with Simonk firmware
- Turnigy L2210C-1200 motor
- Graupner E-prop 9x5 propeller
One thing remaining is Gimbal, I didn't manage to make it working with APM2 under firmware 2.7.3, and wiki page is not up-to-date with instruction to make it working
I'm sad to say this but I've just had 3 consecutive bricks on my XBee telemetry... :-(
I forgot to mention that we needed to upgrade the eeprom version from 118 to 119. What this means is that your eeprom will be wiped out and you will need to do your radio, etc set-up again. Really sorry about that but it couldn't be helped and we actually haven't increased it in a long while...it's probably for the best.
We've just pushed out 2.7.3 to the MissionPlanner and the download area. 2.7.3 is really just 2.7.2 but with a small fix to the camera mount code to resolve issues that primarily APM1 users would have.
Congrats to the Dev Team on this release! I spent a hr testing it on a XAircraft DIY Hexa, really positive results.
Loiter, was awesome. About a 2m Box, after 4 minutes slight drifting.
Stabilize was great as well. Quite stable, 0 problems.
Auto, this mode was weird. I set a 3 way point plan, and wrote the way points, and then I loaded the way points and I got 15 way points. I have never ever set a 15 wp plan on this APM before. Took me a couple of times to get them erased.
Next flight, the hexa on auto would go to Home and skip the rest of the (3)wp's. I confirmed the "auto" mode was correctly set on the radio.
I have done 0 PID tuning, so out of the box I am pretty happy with the results. Keep up the good work. Cheers,
Rick
hello all. I have been flying my quad with 2.7.1 for a few days now and all was well. however i just updated to 2.7.2 and nothing works on my flight data screen. it will arm and disarm and change modes but nothing else is working. i have erased the eprom and reloaded the software and still nothing. i know i'm missing something and any help would be much apprciated. I'm plugged into the usb port running mission planner 1.2.10 mav 1.0
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