Jason is travelling this week, so I'll take the helm for the next software release post. 

UPDATE: the motor remapping thing was confusing everyone, so we took that out and returned to the regular motor mapping. That means that APM 2 users with Hexas and Octos should wait for the next version. APM 1 users should be fine with any frame.  

NOTE: Hexa and Octo users: there have been motor mapping changes that may affect you. Please don't upgrade until we can update the documentation to reflect the changes. This should happen by the end of the day today (Feb 1).

ArduCopter 2.3 is now available in the Mission Planner.  This is the next revision of the ArduCopter 2.2B6 code, which is perhaps the most tested code we've ever released (1288 comments in the thread!)  and certainly in my experience the best code, too. 

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 (default is 0.14, so start by turning it down to 0.1. In general tune PIDs in 25% steps).

Now that we've got solid code out there, we can turn to collecting suggested gains for standard frames, and a better guide to how to tune PIDs for your unique setups. 

Here are Jason's note on the latest changes (mostly from 2.2B6)

A dampening term called STAB_D has been refined. A D term for all of the Rate based control loops has been added based on Igor's work. Landing for Baro and Sonar has been refined based on JLN's work. A slightly new approach to Loiter and Navigation is being used to try and linearize the pitch and roll for rate control. It tends to use lower gains, yet has a more assertive response in the air.

STAB_D : This is the gyro accretion dampener. This can remove small wobbles during sharp changes in angle commands. Making this too high can have a negative effect in performance and add a memory effect that can cause temporary loss in control. The in flight tuning is ranged so you are just below that effect.

If you haven't noticed before the control loops are in two stages. The first is a PI stage that converts some sort of position or angle error into a desired rate. These generally do not need to be tuned. They are more of a user preference on how fast you want the copter to perform a motion. 

The second stage is the actual PID loop that needs to be tuned for the copter. This converts the desired rate into a motor command of some sort. I added a D term based on Igor's recommendation to the PI's for each rate controller. These should show up soon in the mission planner for the release. I cannot give you a concrete answer for how to tune the D terms, because they each depend on their function such as alt hold or loiter, etc.

Still, the absolute most important term is always the Rate_P term for each loop. Start tuning here.

The default PIDs are in the what flies great for a stock jDrones/3DR Quad with the purple motors in X mode.

Note the Mission Planner does not yet highlight these D terms on the main tuning page (it will soon), but you can find them and modify them on in the Parameters list.

Autolanding should now work well (see video above) and the Tri servo issue is now resolved. 

The code should now compile with Arduino 1.0 (thank, Randy!), but remember that you need to use the "relaxpatch" version of Arduino in our downloads section

[Update: we've reverted the below. See update at the top of the post]

Important for Octo users:

We've changed some of the motor orders for some more exotic airframes. We'll be updating the docs on the Wiki in a day or two to reflect this. Pat Hickey explains:

As before, the hexa plus APM2 motor setup has changed from the ordering [1, 2, 3, 4, 5, 6] to [ 5, 6, 1, 2, 3, 4 ].

The Octa V layout for APM2 is:
6            4
  2        5
    8    1
      3 7
Motors 1 through 4 spin clockwise, and 5 through 8 spin counterclockwise.
Support for roll/tilt camera control on APM 2 should be coming in the next version. Traditional Heli will also be updating to this latest code as well once we track down a memory issue. 
As always, you can see a complete list of changes in the changelogs.

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I know JL, but i'm patriotic..., green, white and red! :P
The Mikrokopter drone have the red in the front side.


    had a small crash while flying 2.4

Copter leaned to one side and did not react to roll input. After crash, started again and cotinued flying with no problem 2 batteries more. While on 2.3 never had this one.

attached log files-



PACEFE: Which board? Can you examine your own log and see if there was any interruption of the logging or if the RC input disappeared at that point (which would suggest a RC cable was loose)? I'm afraid I don't have time to analyze your log for you.

Hi Chris,

             thanks for your promt answer.


Just look at the attached Jpg.

RC input was there, command roll on the other direction.

There was no interruption of logging.



Interesting. Can you see any other values that changed dramatically at that point, which could help pinpoint the issue? 

Found it!!!

Sonar Alt!!!!

But it should not interfere with the Attitude, or?

Maybe this are the twiches some people can not get rid of??

Are people with twiches flying sonar?

Can this be reproduced in the bench?



Hmm. That looks like a lagging data indicator. Are you sure that's not just because when the copter tilted over, the sonar was no longer looking at the ground?

copter never tilt over.

it just tilted about 40 degrees and flyed laterally until I cutted power.

will try to reproduce in the bench

At 40 degrees the sonar is no longer looking down and will not give meaningful results. I think that reading is a symptom, not the cause. 

You are right.

Just tested and beyond 35 degrees sonar gives up.

I was only at 50cm from the floor.

Is 35 degrees not normal at forward fligth? Is sonar disable at this angle?

would not this crash my copter if I were flying Alt_hold?

About original issue, I hope it appears again to investigate.



PACEFE see my video at 2:20, same problem i think...


Jap.., the same!

Have you any logs? (Found link in the video, but can not download it)

Lucky me!, I was only flying 50cm from ground.

Im new to SW (more the copy/paste style) but I ask my self, if such a complicated program with so many nested tasks wont be prone to hang under some conditions.

DMP on APM 2 should make this more reliable I think.



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