Arducopter 2.8.1 is now in the mission planner and in the downloads area! Remember to do your MP configuration again after loading this code, since it erases your EEPROM and sets it to the new defaults. 

Note: Issues with APM1 user's level feature not working are now resolved.  If you installed 2.8 we highly recommend you upgrade to 2.8.1 as 430 extra bytes of RAM have been freed up which reduces the chance of memory corruption (although we haven't seen any cases of this on the APM2 at least) .

Note #2: this release has not gone out for Traditional Helicopters until they can be tested fully.  Flip and Toy mode have also not been fully tested.

Improvements over 2.7.3:

  • Improved ACRO mode (Leonard Hall)
  • Improved stability patch to reduce "climb-on-yaw" problem (Leonard, Rob Lefebvre, Randy)
  • Rate controller targets moved to body frames (yaw control now works properly when copter is inverted) (Leonard/Randy)
  • Less bouncy Stabilize yaw control (Leonard)
  • OpticalFlow sensor support for APM2.5 (Randy)
  • DMP works again by adding "#define DMP_ENABLED ENABLED" to APM_Config.h You can also log DMP vs DCM to the dataflash by adding "#define SECONDARY_DMP_ENABLED ENABLED" (Randy)
  • Watch dog added to shutdown motors if main loop feezes for 2 seconds (Randy)
  • Thrust curve added to linearize pwm->thrust. Removes deadzone found above 90% throttle in most ESC/motors (Randy)
  • More timing improvements (main loop is now tied to MPU6000s interrupt) (Randy)
  • GPS NMEA bug fix (Alexey Kozin)
  • Logging improvements (log I terms, dump all settings at head of dataflash log) (Jason)


Bug Fixes / Parameter changes:

  • fixed skipping of last waypoint (Jason)
  • resolved twitching when no GPS attached (Tridge)
  • fixed loss of altitude if alt hold is engaged before first GPS lock (Randy/Jason)
  • moved Roll-Pitch I terms from Stabilize controllers to Rate controllers
  • TILT_COMPENSATION param tuned for TradHeli (Rob)

Code Cleanup:

  • HAL changes for platform portability (Pat Hickey)
  • Removed INSTANT_PWM (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.

Please note that on this release we've moved the Roll and Pitch I terms from the Stabilize controller to the Rate controller. There's some evidence that says this can lead to flips on take-off if you move the roll or pitch sticks around as you take-off so we recommend you leave these sticks in the middle until you're in the air.

Please feel free to report issues you find in the discussion below and/or add them to the issues list.

Thanks and enjoy!

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     Of course you're using an APM1 with a 2560?

For people who experience flips on take-off, please try:

   a) reduce your Roll and Pitch Rate P terms from the default 0.175 .. maybe try 0.155.

   b) reduce your Roll and Pitch IMAX terms from the default 5 to 3


If this happens to you, we'd very much like to see your dataflash logs and/or tlogs to understand the cause better and figure out a way to avoid it.

Hi Heino, it doesn't really help your problem, but just so you know, I did use 2.7.4Zeta with an APM1.4 and didn't notice the problem.

That being said, I didn't actually go through a setup, so I had no need to do an auto level or try CLI.  I always just push my param file back into it after a parameter reset.

However, I couldn't get telemetry to work with the new code.  It would connect to MP with a USB cable, but not 3DR Radio.

I flew it with no changes at all and it was totally hooked up. I'd already been using rate_****_I instead of stab_****_I however.  

So other than that, shouldn't be a problem.

I'd suggest even going as low as 1.0.  That's what I've been using.  It won't flip on takeoff even if I try to force it to.

Hmmm... I just tried level on this board, I get the same error.   "Failed to level : ac2 2.0.37+ is required."


The CLI is also a little bit flaky.  Not as bad as yours.  But I had trouble downloading logs using the GUI, but now they're coming in fine using the CLI log dump.

I just wanted to say what we've had here is a great example of the Open Source ethos.  Leonard Hall only joined the dev group just a few weeks ago, and has already stepped up and made a significant contribution to the program.  It's a great example of how anybody who has the skills can jump in, be accepted, and make a difference.

I'm very excited about this release as the changes that have happened to the attitude controller have really made the system much more fun to fly.  It resulted in me "flying the wings off it", litterally. ;)

It also gives us a basis that I'm hoping I can build on to get the helicopter acro mode working better.

Better...... use the 3dr radios.

You can set autotune to channel 7.

Yes 2560. Other flaky behavior - raw sensor output seems to not output at times in the MP. I use this to check the gyros and accel. Radio output seems to work ok. The cli worked on 2 of my 3 scratch reloads and wouldn't run in the third reload as I indicated earlier.

I'll try this morning on my spare apm1 on the bench and see if it is less flaky for me.
my telemetry is using Xbees and it seems to basically work ok between USB and wireless.
Going back to 2.7.3 shows none of the issues.

its my log but i fogot to configure motors logging before fly


so many thanks to the team !

works fine and stable.

Christoph Laib

Just tried leveling on 2.8 through the MP on my spare apm1 (sitting on the bench with no GPS or magnetometer) and it displays the same behavior - leveling fails. The CLI level seems to work fine.  It  looks like some kind of interaction between the MP and 2.8.  The light pattern on the APM looks like it is rebooting in the middle of the level operation.  I'm loading 2.7.3 to compare the light behavior when leveling to compare.

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