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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Yup, that's the last bit i have to isolate - the source. Floating motors here I come. Just you wait till you see my new lights :D

My celebration 2.4 video.

I recommend some Led Zepllin in the back ground or something.

Dji frame, tweaked and fiddled with to reduce vibration. Stock Ardu 850 gear, 10*4.5. Marco’s Params – pg 73. Lower rate_d better for this frame.


These led strips http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=...


Didn’t even have to cut them, just allowed the strip to go into the centre and back out again, the dji is 1m all the way round two arms exactly


And this ‘headlight’, it’s so bright I’m planning a night time fpv.




Excuse the faffing around in the middle when I was trying to strap the go-pro to my head...I’ll edit it but having stopped up till 3am I thought I’d give you the raw deal... oh yeah and that’s why its grainy- it’s a gopro and its dark.


There was both alt_hold and loiter in this vid, and this was my first ever flight in x mode \o/


Behold the spectre...


Stable and very reactive :D


The Spectre. Arducopter 2.4. Stock. from Kamakaze UK on Vimeo.

Hello all,

Small video test v2.4original pid stabilizer mode, altitude hold morning.


apm 1.4 v2.4

2830 13 850 motor rctimer
ecs Turnigy 10 amp
10x4, 5
2650 40c lipo
mode stabilizer

I am working on a custom camera gimbal.

Do you have some camera videos on the copter that you can share?

I have the pitch done the roll is in development.





Hello to All,

Here a video of the tests flights that I have done on saturday feb 18, with latest released v2.4 firwmare (previously named 2.3.1+).

The weather conditions was very bad during these tests: Wind 18 Km/h, gusting 21 Km/h and RAIN...  :-(

I have tested successfully the:
- STABILIZE mode (full manual flight),
- ALT_HOLD mode,
- LOITER mode (GPS position hold),

In spite of the very turbulent conditions my light quadocopter was able to win agains the wind and gusts...

I hope that on sunday, the weather here will be better for more tests flights on the v2.4

Good flights to all,

Regards, Jean-Louis

Wow, with the rain...!!!
Nice work JL... and finally I see you fly! :-)

Impressive JL, not even the bad weather can stop you from flying :) I did not fly the past week because of wind only, because the sun has been shining but, without a stable version and in wind, I was not sure I could control the beast, but you are one of the brave :) Congratulations, and nice tests as usual from you.

Hello Jean Louis
bravo for the courage to test 2.4 under the rain, in Auvergne on Sunday really too bad, I did not put you on your courrage.Avezardupilotdev 2.4 Xplane for Hil?; I fail to compile when adding the 3 files and this time I'll be pulled over the silulation!

Hello Daniel,

You will find in the Attached doc, the required files and param for the HIL test with the 2.4 and AeroSIM/Xplane

Happy sim...

Regards, Jean-Louis


Thank you jean louis, hoping the weather will be good for you!

ArduCopter V2.4 - Angle problem at high speed:

Wonder if someone can confirm this behavior: move the quad with an angle of 45° and mantain nick in that position do a great accelerated, with close to full throttle(90<->95 %).
A few seconds later I no longer takes the corner and a backward stroke, may be seen in the video.
When my X8 "throw back" is not me, it's all him, at that moment I keep a constant angle of nicks.

Does anyone have similar problems with 2.4/2.3? Thanks...



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