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
Hello,
I got my AMP 2.5 last week with the UBlox Lea - 6 GPS and 4 brand new ESC's and motors from 3DR with MB1260 sonar.
In stablize mode without simple mode it is all 100% flying like a champ it is perfectly stable but when I enable simple mode the orientation goes all wrong my forward becomes backward and my left becomes right. I have the APM 2.0 and this does not happen on it (but its old firmware).
On the APM 2 the manetic inclination is -17.49 and that is what I have put into the APM 2.5 with the latest firmware. I even did the magno meter calibration dance and the APM 2.5 detects 12, and when I set it to altitude hold it works for a few minutes and then the quad loses altitude very fast.
Has anyone got the same issues or can this be a hardware fault?
Regards
Christiaan
I am having an issue. I have 4 point flight plan and everything goes great up till the 3 way point and it decided to say its going to way point 65XX. I believe that someone had the same issue and i was unable to locate the fix on this. I would like to get this thing to fly a full mission.
Thanks here is a video and I have also posted the Log.
2012-09-23 12-03-22.tlog
I'm having problems connecting to APM2 with USB.
MP gets stuck and says there is a problem with mavlink.
Wireless with xbee, it connects with no problem.
When I disconnect Xbee on the APM, I can connect with USB but nothing shows in the MP.HUD doesn't move, etc.
When I first got the APM2 and wanted to connect the XBEE through the UART connector as discribed in the wiki but it didn't work. Then after some searching I found the solution by connecting the xbee on the UART0 port on the side of the APM. XBee worked fine.
Both xbee and usb were at 115200.
Meanwhile I switched xbee to 57600 and left the usb connection at 115200.
Could this be the problem??
What should the LAND flight mode do? Should it just descend and land wherever the Quad is? Is it at all tied to GPS?
Guys need help over here: http://diydrones.com/forum/topics/apm-2-5-level-gets-corrupted-logs...
looks like a bug or defect on APM 2.5 on the auto trim. please read and check the logs.
Need to know if this needs to be RMA or just waiting for code fix.
On my Quad with APM2.0 the flights are extremely stable with V2.7.3
I can fly it as hard back and forth as I please and it doesn't overshoot. In Auto the other day it acted smoothly and landed the best I have ever seen yet. Just a couple of questions please :
In MP I plotted a 31 waypoint mission along a field and up a hill. The hold default alt was checked and so was verify Height. Default alt was set to 30mtrs and along the right hand column I entered 30mtrs in every waypoint altitude . When the radio was switched over to auto, the quad raised up to 30mtrs and followed the waypoints. As the quad went up the hill, the altitude did not increase. Amazingly it touched grass at one point and raised just 2 meters and went up and over a wire fence ! ( A great deal of luck I think ) . I have sonar and on-board gps. What did I do wrong ? I thought "verify height" would have raised the quad as it climbed the hill.
I tried to look at the logs, but I am still baffled about how to use them. Sometimes after converting them to KML files they work with google earth, and other times they show nothing on GE.
MP......
Hi all,
After the holydays come back, I hadn't had the chance to to test 2.7.3 until now.
My setup:
Y6 Hexa (aka Skybot)
Arducopter v.2.7.3
Default parameters
Motors:BC-2836/7 1120kv
Props:Top: 11x4.7, Bottom: 10x4.5
Weight:2.1kgr + 5A Batt.
Size: 57cm motor to center
APM1
Just tried stabilize and alt-hold.
Stabilize, great! yaw responsive and solid, best default params ever.
Alt-Hold, tuned with CH6, kept height within 15cm.
Great job devs!! Now I'm confident enough to think of trying fpv and the rest of modes.
Thanks!
PIDs... why has the default PID changed so much from Version 2.6.1? The Sab Roll/Pitch I was near 0.000 before if I recall correctly and was recommended to set to 0.001 but now in 2.7.3 the I setting is 0.050 which seems a lot of difference. Also IMAX went from 40.0 to 8.0 Why such big changes when the other settings seemed not to bad?
Interesting I found this http://www.seeedstudio.com/depot/grove-serial-rf-pro-p-794.html?cPa... It looks identical to the 3DRadio.. ? Has anyone tried it?
Hi Guys,
A question from a different angle. I'm using a mega 2 board and I love flying my quad. You guys did a great job, thanks. Here is the question - If I can stream the quad's position to 10cm (Say usinga L1,L2 RTK GPS receiver), can the position corrections be done more reliably(agressively)? Currently my position hold runs within a 10 to 20m radius. Can I get position correction to keep my quad within...say 0.5 of a RTK position?
Thanks again for hours of great fun.
Antonie
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