I just pushed Arducopter 2.2 to the Mission planner. This version went through extensive testing by a brave group of flyers and with both HIL and SIL testing. See this link for more: http://www.diydrones.com/forum/topics/arducopter-2-1-1-alpha If you run into any problems please let me know here. If you find a reproducible bug, please add it to the issues list. tuning tips: If you run into Loiter…