Developer

3689382253?profile=originalArduCopter Beta 2 release

 

After a long wait we are delighted to finally release our second official firmware for ArduCopter. This code is our intermediate code (code name NG) that is a step towards reconciling with the full ArduPilot Mega framework. The next version (codename ArduCopter Mega, ACM) will be fully compatible. As always, be careful when testing fully new software.

 

Our development group has been flying this software on many ArduCopters without any problems but still it does not mean that is won't have any bugs, there might be one just behind the corner. Tho we have been trying to nail them all down.

 

Thank you for whole ArduCopter/ArduPilot Mega teams for this great release.

 

Always check our latest release notes and test instructions from ArduCopter Wiki pages.

 

Main new features:

  • New architecture. This puts us on the path of integrating fully with the main ArduPilot Mega code, which brings compatibility with all the UAS tools (ground stations, mission planners, datalog analysis, and a full two-way flight command language) that are already in place with the fixed-wing UAVs. As a result of this back-end code migration, you should see full UAV features come to ArduCopter more quickly going forward and rotary-wing development keep pace with the fixed wing versions.
  • CLI (Command Line Interface) for easy and quick configuration: The ArduCopter Configurator still works fine but some of tests have been moved only to CLI. The CLI allows people with Macs and Linux to set up ArduCopter without having to run the Windows-only Configurator.
  • GPS position hold: This has been tested with MediaTEK GPS that comes along with ArduCopter kits. Expected hold will be around 3-5 meters from activation location. ArduCopter can still be manually flown with position hold on, but it will return to the hold position when you release the sticks.
  • Magnetometer support: The DIY Drones magnetometer is now in stock and fully supported.
  • Altitude hold: This barometer assisted altitude hold works while user has activated GPS position hold. It is possible to alter altitude even when position hold is on with throttle.
  • Easy X and + configuration: You can choose between either X or + flight modes by simply moving a DIP switch. (Note that the APM/IMU must be mounted in the + position, regardless of which mode you're flying in. This may change in future versions of the code, but for now it simplifies installation for most users.)
  • Helicopter code: preliminary and flyable code for more traditional helicopters. Code has been tested around world with some Trex450 style copters.
  • ESC calibrations for official ArduCopter ESC's

Here's a video of GPS position and altitude hold working:

 

 

Quick install notes:

--Download the code and unzip the ArduCopter RC2 folder to your desktop. It will include two folders: "ArduCopterNG" and "libraries"

- Move the libraries folder into your regular Arduino sketchfile folder, replacing the libraries that are already there. Delete all the old libraries folder and copy this one in instead.

- Open the ArduCopterNG.pde file in Arduino and check that the #defines in that file and ArduUser.h meet your requirements. Typically the only one you will need to check are magnetometer orientation (if you're using a magnetometer):

#define MAGORIENTATION  AP_COMPASS_COMPONENTS_UP_PINS_FORWARD       // This is default solution for ArduCopter
//#define MAGORIENTATION  AP_COMPASS_COMPONENTS_UP_PINS_BACK        // Alternative orientation for ArduCopter
//#define MAGORIENTATION  AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD    // If you have soldered Magneto to IMU shield as shown on the wiki

- Upload software to your ArduCopter electronics

- Run the CLI by changing position of SW2 switch and reboot your APM--towards the servo rails is CLI mode; towards the GPS connector is flight mode. Open the Arduino serial monitor, setting baud rate to 115200 baud and ensuring that "Carriage Returns" are enabled. You should see a command line on the monitor. CLI instructions are here.

- Run and all necessary settings like factory reset and IMU level calibrations along others your might need.

- Make normal flight preparation tests before connecting your propellers

- Fly safe....

 

Installation and latest information, please do check our ArduCopter and ArduPilot Mega wiki sites for more information.

 

ArduCopter NG, NG specific details and test procedures

ArduCopter Wiki, for all quad and heli based information and updates

ArduCopter Heli, especially for ArduCopter heli modifications. It is flyable and needs more beta testers.

ArduPilot Mega Wiki, for general electronics related information and also fixedwings

 

Last but not least, the release code: ArduCopter RC2

 

 

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Comments

  • Still not sure why I can't get a better reading out of my mag... I've recalced the offsets several times, all with similar values in the end, and I just can't seem to stop getting around +-5 degrees of jitter. I've moved everything away from the mag (I have a 900mhz xbee, the GPS, and the PWM lines to my ESCs normally nearby), recalced again, and gotten basically the same result. Is there any reason to think that the "soldered to the oilpan" option is going to get more noise than usual due to the proximity to the oilpan? Probably just grasping at straws...
  • The problem above was fixed by disconnecting the Magneometer, but any Ideas on the reason that cause the Arducopter not to connect to the Configurator?? Oh and by the way Fantastic Kit!!

  • Randy, It was connecting fine till I fiddled with the left motor pwr connector, now it doesn't connect...teh CLI switch is towards the front/forward. I'm really frustrated with myself for fooling with the pwr connector. I was hoping for a reset or other method that might help...
  • Developer

    @Dody - yes a video of how to do the magnetometer offsets would be a very good idea.  I'll see if we can put one together.

    The set-up of your compass looks fine.  You should double check that you have the MAGORIENTATION in the https://code.google.com/p/arducopter/source/browse/trunk/Arducopter... to be AP_COMPASS_COMPONENTS_UP_PINS_FORWARD.

    I very much suspect that your problems with heading are because you haven't done the offsets.  You should point each arm (and then the top and bottom) of the Quad towards magnetic north (which may be almost straight down).

     

    @Steve - how is your CLI switch set?  The CLI switch is on the back right of the board.  It should be forward if you want to fly or connect using the Configurator.  It should be backwards if you want to access the CLI menu through the Arduino Serial Monitor.

     

    -Randy

  • It was connecting fine to the configurator, now it will not connect...this was a full kit...

  • After upgrade I am having problems connecting to the Configurator, it was doing fine but I had a proble with the left engine not working. I disconnected it while powered on, did I kill the board??

     

  • Jani Good evening,

    I fly with the last version beta2 on my Arducopter, the flight with locking GPS does very well, but I have a problem about the magnetometer, I have make as indicated on option magnetometer on the wiki page.

    • compared to my position GPS on Google Map, and after calculation on the site, I find 0° 15' W and 0° 7' E/year.
    • What is necessary to make afterwards in the program?
    • I will want if possible a video of your configurator on the adjustment of the magnetometer bus me I find that my course moves much.
    • When I connect myself with Arduino and that I type the letter C, I see the course well thus my magnetometer functions well.
    • Thus I flew with version RC1 and maintaining the version beta2 and I do not see a difference with share that the locking of the flight around a point GPS functions very well.
    • Thank you to explain me Jani.
    • Jani, looks at the position of the magnetometer on the photograph, is what it is correct ? the red bar is the front of the arducopter .
    • regard

    DODY

    3692139975?profile=original

  • Developer

    You can query it in Serial Monitor screen by sending ! command. But like just like Randy said, we just released new software that has GPS hold. Three weeks ago shipped hardwares had earlier official software eg. ArduCopter RC1

     

     

  • Thanks for the tips, guys! I thought I had done it pretty thoroughly, but I definitely could be wrong... I'll have another go with it and see what I can come up with. I'll report back either way :).

  • Developer

    There were certainly some improvements put in in the last few weeks so I think you should definitely load up the Beta2.  I'm pretty certain that the GPS hold stuff wasn't 100% complete 3 weeks ago.

     

    -Randy

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