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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Chris you're right, we will immediately.
I'm interfaces with Jason and the dev team to try to implement this flight model in the current AC code, obviously with appropriate debug and only if you really can make improvements.


This is another "real flight report" and sounds good, thanks Duran, this confirms my theory, PIDT1 (fast PID) work better in the real flight control.
Yes, there are alot of 'glitching', the flight model very quickly corrects the imperfections of the quad stab, really fast, perhaps too (LOL)!
Yesterday I did not have much time to play with the pid, I was too excited to do other tests
and I lost time for filming and post here, but surely this system is to debug and improve.
Try to decrese "RATE D"... for your super Droidworks i mean some like "0.04".
Don't touch all the Stab I-term, must remain zero.
If you find a better tuning let us know, cool thanks!

Enjoy!!! :P

Graham you're doing something wrong, Duran and I are using... :-(

Found the problem, needed to delete all in the libraries folder and copy all from Marco's zip

Absolutely, you have to use the libraries attached! ;-)

Procedure for tuning the "PIDT1" patch (from the Igor's blog post, i follow this one for my quad):

Be really carefull, propellers are dangerous!  I do the tuning of the control loops while I hold the copter in my hand and try if it compensates the disturbances without overshot or oscillation. You should decide for yourself if cou can hold your copter in one hand while you throttle up and test the stability. Even small propellers can harm your fingers! If you want to proceed, I do it like this:

  1. Reload your last setup and level the copter.
  2. Set all parameters for stabilize STB_***_P and STB_***_I to zero.
  3. Set all parameters for rate control RATE_***_P, RATE_***_I and RATE_***_D to zero.
  4. Hold the copter with one hand, throttle up until it becomes weightless, then turn it. Nothing should happen, because all control loop parameters are zero. You have just manual throttle control.
  5. Increase the D-Terms and test again while holding the copter in your hand. Remember, it can't fly with most parameters set to zero. Increase the D-Term and test again, until you got some oscillation. Let's call the value you found 100 percent. Now reduce it to 50..70 percent. Do this for ROLL and PITCH.
  6. Proceed with the P-Terms. Increase and test until it gets unstable. Then reduce it to 50..70 percent of the original value.
  7. Set the I-Terms to 30..50 percent of the P-Terms. Test again. If it is unstable, reduce P and I and maybe D a little bit.
  8. Now go to the STABILIZE control parameters. Increase the P-Term. Now the copter should return to level position automatically. Increasing of the P-Term will lead to a faster return to level position after disturbance or also to a fast respond to the desired angle by pilot input. Find a value where the copter returns fast from a disturbance without overshot or oscillation.
  9. Always leave the STABILIZE I-Term STB_***_I zero in this controller configuration!
  10. For YAW you can leave the D-Term zero and use your previous settings for STABILIZE and RATE control. Or you tune it, but I didn't try it at YAW yet.
  11. If everything works well and the copter returns to level position after disturbance or pilot input without overshot or oscillation, then you can try to hover and fly carefully. Not before!

Just flown PIDT1. Objectively, it is better than b4 but only just. Less twitchy, slightly slower reaction to stick response however it may be just that it needs some more tuning. I'll test some more

I'm using all params from my old setup and put RATE_PIT_D, RATE_RLL_D, RATE_YAW_D params to 0.008. Sorry Marco, I didn't do Igor's tuning, I wanted to compare to my old setup. (All ***_I's are 0)

Increse the RATE D term, (0.10/0.12) but if you get up too you may find that the quad off the ground crazy.
Follow the tuning step in my post.
I'm waiting your impression/report/pid/video! :-)

I've just now came from a PIDT1 test flight also, like you, I've used my old params and Ds at 0.008 except RATE_YAW_D wich I left at 0. Didn't you have strong oscilations at lift off for about 2seconds ?

I have this error

ArduCopter.cpp: In function 'void init_camera()':
Camera:33: error: 'class APM_RC_APM1' has no member named 'enable_out'
Camera:34: error: 'class APM_RC_APM1' has no member named 'enable_out'

No probl with compile

ArduCopter V2.2b2xp2 JLN PIDT1 yesterday version 

Hi Rui, yes, if you read all my long post and view all the video there's explanation/report about this.

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