Version 2.4 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area. Although not as big a change as the 2.3 release, it still includes a respectable number of enhancements and bug fixes.
Enhancements:
- massive reduction in memory use (>2k saved!) due to Parameters change and APM2 baro lib fix. TradHeli code can again advance in hand with the quad code
- improved throttle range in stabilize mode. You may find that it takes slightly higher throttle than previously during hover but hopefully you'll find that you have more useable range of the throttle stick as well.
- added TUNE_LOW and TUNE_HIGH for CH6 Tuning (I.e. to set tuning range between 2 and 6 set TUNE_LOW to 2000, TUNE_HIGH to 6000)
- new ACRO_P gain for those who like to fly in ACRO (aka Rate) mode
- Loiter improvements including scaling of X speed
- Easier to use motor testing. see the videos for quad and octa-x-coaxial.
Bug fixes:
- remove unnecessary block for next GPS value before saving home location
- remove wobble on take-off
- turn off camera pitch control (which uses channel 6) when using channel 6 for tuning
- reduced rate of decent when landing using sonar
- Add support for CH_10 and CH_11 for APM2 users
- fixed Log_Read_Control_Tuning so that it doesn't read too many bytes
The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P in 25% steps.
Thanks go to the numerous contributors including users and their detailed bug reports, developers and testers. Hopefully all together this will add up to a nice smooth release!
As per usual, please post your comments, issues in this discussion. For enhancement requests for future versions, feel free to add them to the issues list. Note: you can "star" an issue to receive emails when someone comments on the item. On the dev side it helps us because we can get an idea as to which feature requests are the most popular by sorting by the number of people how have starred each issue.
Replies
Ok, 2.5 has just been released so please join us on the new thread. It took a little longer than expected as we hit some last minute questions over alt hold and loiter quality. We believe that's been resolved and certainly the code has taken a step forward with this new release.
Hi, is there a problem with 2.4.1 when using a quad in x-mode?
My + quad is very stable, part of my setup test is to advance the throttle to hover speed, and then holding it by one leg, the quad remains level.
When doing the same on a x-mode quad, it seems to first "lean" INTO the error, before trying to correct itself.
Both using APM 1, my quad is the old standard quad, the other one a make I don't know, but the motors, props, and physical layout/spacing the same.
Same code in both.
Thanks,
Gustav
Just came back from flying Git version 2.5. Quad did well, Y6 was worse than v2.4.1:(
Calibrated mag, ESCs', usual setup. Used the same PIDs' as previous version with no luck. Tweaked them some, and still no better. Yawing bad left and right. Try to give yaw input and it would tilt sharply in direction of input. Adjusted top bottom ratio, but no good. Sometimes it would not stop yawing after giving it yaw input. It was as if it was drunk off of its stool.
Version 2.5 was much better than v2.4.1 on my quad. Y6 actually flew better on 2.4.1. Will reload and run the setup again. Attaching a log if anyone wants to take a gander. Y6, 650kV motors, APM1 2560.
2012-03-16 06-08 76.log
Y6_Param_v2.5.param
how do you pick what to use for alt hold? sonar or baro??
Here a video of a test flight of the ArduCopter v2.5 firmware (offical GIT version Revision:1ed94f0064f5) done with a F450 DJI Flame Wheel quadcopter and the ArduPilot Mega v2 board.
There was a medium wind of 21 Km/h blowing and gusting from the left. You will see that the Loiter mode works well and that the quadcopter is able to fight itself against the strong gusts. In some others tests flights, I have also tested the RTL, super simple mode and off course the stabilize mode without any problem.
Regards, Jean-Louis
Just flew the latest GIT and can confirm it flies smooth.
First flight I noticed that yaw was going from left to right about 15°. I then recalibrated the compass through the MP and it worked great. I'm using the sparkfun magn.
ALthold reacts slow. Wlst te other mention quick reactions?
Hopefully tomorrow some more tests.
Using X650 value frame with apm1, MT2812 710Kv motors with 11x4.7 APC SF and 3000 up to 5000 mAh batts.
Test 2.4.1 loiter and Guided
Oh, and another rather annoying thing I noticed with git release 94c14cef91ab : I cannot connect to mission planner anymore with my wireless connection (APC220). Annoying cause now I can't make tlogs anymore for debugging. I think I saw this problem pass by earlier in this thread, but can't seem to find it anymore. Anyone know what might be wrong ? I checked baud rates, they are set at 57000 in both planner and ACM, which seems correct
About the yaw problems, I see Tridge has just pushed a fix to git : 60a6c80614b2 . Thanks for all the work guys !
-
1
-
2
-
3
-
4
-
5
of 11 Next