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:


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 issues, try adjusting LOITER_P. It's 2.0 right now which may or may not be to aggressive for your copter. Nav is no longer used in Loiter control, which should make tuning easier.

If you run into a circling issue, try lowering LOITER_I to 0 and see if it goes away. If not, check your compass declination. A negative error will produce CCW rotations, a positive error CW.

If you have issues with alt hold, try lowering your THROTTLE_P, it may be too high for higher thrust copters.

If you have wobbles and can't seem to get rid of them, there is a new term called STAB_D, which is a derivative term used to tune out the wobbles. You can increase it until they stop, but just like driving a cadillac, you loose some performance and handling. In the CLI "tune 16" in setup will let you control this in flight, and "tune" in test menu will let you see the value printed out interactively before flight. See the wiki for more detail.

Many testers gave me a thumbs up on the code, so if you have an issues please post the flash log from the copter. The tLog isn't that much help to me for debugging as it doesn't capture the needed values at high enough rates.

(Remember, if you'd rather pull the code from the repository and load it with Arduino, you must use the "relaxpatch" version of Arduino in our downloads section.)


Update 2.2b2

I believe I found the simple mode error. It was a bug that was working OK until Tridge fixed it so it was declared properly. Then the bug became active. I made the Simple mode function internal variables static and this should fix it hopefully.

I updated alt hold to not use dampener for now until we get more testing. Some folks saw a latency induced oscillation which was pumped up by the D term.

I added the automatic throttle cruise or hold value as a compile time option for testers. This basically looks at your throttle and climb rate while in stabilize or acro and determines your optimal hover value. This means you can enter any autopilot mode and not have to worry about your throttle position. It should make alt hold more reliable if it works. This is off by default until we get good field tests back.

Update pushed to GIT.

Update 2.2b3

Just some refinements. I added JLN's throttle curve mod for landing. Hopefully that's correctly implemented. 

Made the landing delay from RTL user settable

removed the ADC gyro filter, I was doing a lot of testing and determined it wasn't worth it.

Enabled the auto-throttle control by default. Please test in the sim

Altitude no longer resets when flying in Loiter mode

Pitch and roll dampening is smoother now. try values up to .08 for very dampened flight.

Mavlink can now trigger auto-land

I'll push a hex when I hear some good news from HIL testers.

Update 2.2b4

Flew today and saw the WP speed governor wasn't quite working right. It was going down to 0 rather than the minimum.
Made internal switch to CM for distance calcs. This should not make any change to gains or MP.
Modified a few default gains for jDrones frame based on AP test flights of this code in some heavy wind on my roof.
Fixed an issue with the landing code not kicking in right away.
Decreased the slowdown near WPs
Added a limit to the amount the pitch compensation can effect the throttle if the throttle input is really high or maximum


Update 2.2b6

This is a rollup of all the code that's been flying around for the last week as well as a few bug fixes. I'll be posting it saturday night after reviewing all of my logs.
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.
I have one small loiter control issue to sort out tonight based on my logs, then I'll post to GIT.
Here is the auto-landing code in action. 

OK, 2.2b6 is on GIT. The Mission planner is going to be out of sync until the release code. until then you can use the APM_Config.h or the parameters list in the Mission planner. 

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.







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What are you using for video editing?

I used the CLI. Make sure your slider switch is in the CLI position. Then click on the terminal tab in the MP. Type setup, hit enter, type erase, hit enter. That should clear the EEPROM.

P.S. the slider is no longer required to enter CLI. Just go to terminal in Planner and hit enter 3 times.

Ok I know this, but why is the button eeprom remove deletet in the setup progress??

Is it automaticaly deletet when uploading via arduino or mp???

2.2b2 HIL (aerosim) tested this with traditional heli code. Loiter worked really well, Stabilise was good as usual. Hopefully this will be quite close to the field test.

Thank's Jason.

Has anyone else ever experienced something like this? I don't think its the firmware version.... I have a feeling something else screwy is going on. I haven't changed a thing though. It is very confusing.

I just re-ran the setup process and the radio inputs came through without an issue.

Ah- pretty sure that's now automatically done when the EEPROM map changes with new firmware. You can do it manually, but I think it was taken out for simplicity's sake.

Thanks for posting your setup!


I've only had the bird for a week now, I'm having enormous fun and catching up fast...and she hasn't hit the lounge ceiling since wednesday :)


I'd been fiddling around with all manner of PID settings, inside and out and just hadnt been happy with the ranges i was trying. Your setup values - coupled with the new 2.2b seems to be a vast improvement. I will be hitting the field early with a list of things i must try. And now I've got the xbees I can do it from the back of the van :)

I might even peel the gopro off the old kk tri...

For info I'm running a slightly different setup; standard arducopter frame, 1.4 board, now with 2.2b running, standard 850kvs 10*4.5 props.

So if you run a similar set up and want a few settings to play with I can recommend the PID's above as a reasonable starting point, they are quite different from stock values. I'm presuming perfection lies somewhere between the too 


Thanks and congrats to all involved, my beast is almost tamed :)

Here is a screenshot of the problem.

you can go to setup menu in CLI and type reset. This will clear everything and start from 0.

Hallo, Jean

I had enjoyed your HIL simulation tuned to Xplane 9.7. However, the recent version has very wired behavior with APM1, Futaba T8FG tx and X-plane9.7. The stick input data is not get into the simulation  as APM output. Do you have any idea for those situation? Actually, I have tried both arduion 022 and Planner to upload the firmware.


Looks like your radio is off.

If I turn on APM and reciever without turning on my transmitter, it seems like the reciever doesn't put out any signals, and it looks just like that.  If I turn on the transmitter, the signals appear in APM.  Then if I turn off my transmitter, the signals stay. Seems my receiver does not like turning on before the radio.  I think it's a safety thing.

In any case, looks like your receiver is not sending any signal. Might want to look into it.  Was it super cold where you are?

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