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.







Views: 61017

Reply to This

Replies to This Discussion

That sounds odd.  It almost sounds like the I2C lock-up, but that should not be possible with the new code.  Attach the logs here so we can see.

Looking pretty good.  Is this with the PIDT1?

It holds position really well, but it does seem a bit jerky.  I wonder if it's possible to just smooth it out a bit while still keeping the performance?

ArduCopter V2.2ß2XP2 "PIDT1" (APM1) - Flight test at the airfield:

Hi all!
Premise: i have abnormal sound vibration induced by the gear, I apologize for the strange noises in the air... tomorrow i fix it! :P
In order of importance I think the first thing is "quad must fly well", then automation can be introduced after this.
Here we focused on placing the automatic flight, but if a quad first does not fly very well all the automation may not work correctly... and with "fly" i mean really fly, not just hovering.
After countless flights in recent days my little quad did not give me any security and feeling, where I felt a little "in my thumbs", I decided to test the change by Igor Van Aird called "PIDT1" (library called "PID_fast"), I introduced this mods in the code "AC V2.2ß2XP2" edited by Jean-Louis Naudin as regards the autolanding.
One of the huge advantages of "PIDT1" is to have a high reactivity in the controls without making a quad instable.
What about ... for the first time I'm excited! Today I really enjoyed it without heartache of mind!
The quad that is totally under control, has no hesitation in flight, no wobbles (even in vertical descents), tow that is a pleasure, is not plagued by the "command memory effect" when you leave the sticks for a long time in the same position... look at the video and judge for yourself.
In the final part of video I put my little quad in a large schneider at high speeds without any problem, less than a meter above the ground, with a perfect control.
I hope that Jason take seriously into account this change, which in reality is nothing more than to return to the good flight style of "ArduCopter NG", removing first of course other stab system from the code because it does not work very well like this, I would of course be denied!
The only problem with this mods ("PIDT1") is if you use the AutoTrim function, because during takeoff the quad wobbles quite possibly setting a deadline of control that is stored when the quad is stable on the ground, so once armed engines if you do not take off immediately generates an error correction which then automatically resets when you are flying, just after one or two seconds (of panic).
I enclose, beyond video, the version of firmware that I modified and the parameters that I used in this flight test.
This fixed release are provided without warranty but if you want use at your own risk, I suggest all to take it as a reference, only as an example because there are few changes in the code related to my quad (led pattern control in channel 8, roll gimbal control in ch 7 and other).
Look forward to your comments, enjoy!




Is that 3.6V under load, or rest?  Obviously there's a big difference.  If you stop at 3.7V *under load* then I must be WAY over-doing it, because my 3.25V is not under load.

When I use the discharge function on my charger, it goes to 3.0V.

The logs are very long, just trying to run through them now to find the exact portion.

I hadn't seen Igor's post until now. I'll look at it.


I waiting for look.

Me to..

Marco, you mention autotrim not working well, but what about "level" ? that can be used, right ?

Odd, I used auto-trim yesterday and it worked great.


Yes Jason i know, in my post i've write with "PIDT1" mods... :-)
@Rui: of course, but it will be possible to remove that little bug ... I repeat, is present only in the version I posted, not in the official AC!

Ok Marco. You look so enthusiastic about it, I'll try it tomorrow... in "my test field" :) I'll just use the level before take off.

@Jason, autotrim was working fine the last time I used it :) it's something to do with the PIDT1 version.

By the way I've been enjoying this 2.2xp2 version a lot. No crashes for a long time wich is all I aim for, in experimental versions. I noticed some very little things can lead to easy crashes and sometimes we blame it on the software when it's a hardware problem. Always check propellers condition, check they are securily tight, look for loose bullet connectors, pwm connectors, rx connectors, anything loose, gps connector. And pay special attention to all the solderings and frame screws, motor mounts, motor screws. I'm talking by previous personal experience, 2 oilpans and 1 apm busted, and more than 10 crashes wich have lead me to some frustration. Find a grass field for first tests untill you feel confortable, specially if using alpha or beta versions (or a simulator, wich even it can save a lot of money, I just can't get used to).

Reply to Discussion


© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service