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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There are people who make tests and in the process crash, sometimes hardware sometimes software. In the process of beta and alpha versions this is very important and avoid releases with severe problems, people like that deserve respect because this is not only about flying, is about providing safe releases for others too ! Marco made lots of tests and in the process lost is quad, you're entitled to your oppinion but so is everyone else !

Now John will try to explain something, but dunno if I can, I'll try anyway.
Explain it with a video that until now was reserved only for development team (back at the end of December), the incident was found that was due a code bug with "Acro I Term" (fixed after this event), and now it's time that people like you see this.
This problem appeared only on very special occasions, very difficult to replicate, but it was existingm on the simulator would never be presented for reasons unnecessary to explain here that, but testing the quad so scrupulous you can bring up.
If this heavy octo (6 Kg) he got in his face at this high speed completely out of control, perhaps you would not be able to write your thoughts here, perhaps because most would not have the face or worse.
in the community like me is trying to write a lot to find solutions with other, because you can still fly with your quad without this can happen to you, but if you want this to happen to you we can stop if you prefer.

And honestly
I do not much interested if you can not get working the simulator with HIL, but interests me a lot that this does not happen to anyone else, including yourself of course... clear?



I finally got it working. I was using old winrar to extract AeroSimRCAPMHil.zip without any errors or warnings, but now it seems that problem was there. Today i deleted those plugin files and extracted again using 7-zip free software and everything worked :)


Regards Jani 

Hello Marco,

thanks for the magnificent job, and I'm sorry for your accident.

I have some component of a jdrone (motors, esc, APM, frames changed after a crash)

if I can help, I send them to you ...

Thanks Angel,

I shall try this week end the Igor's PIDT1 in real flights too...

Regards, Jean-Louis

yes sorry I was a bit abrupt there I do agree.

I can assure you I do very much appreciate Marcos input and have learned a lot from his postings. But my issue was from reading over 30 condolences for the death of his rig that  was starting to get to me when I had requested about five time now if anyone could help  solve the HIL problem that not only myself is having but so are many others..but we didn't get anywhere as yet. If your read my comment I though it was clear the jibe was not at all to Marco and his efforts, but all the streams of condolences. I apologist if is was otherwise taken

Anyway I just came back from my 4th outing to try and fly my X8 quad and I managed today to have 4 short flights and this time only broke 1 prop.( much better than 12 on my 2nd try and 7 on my 3rd) Im so happy I can now land it without flipping it every time. :)

My earlier problems were from one motor being out of plum  which made it constantly rotate. This is now fixed and I'm really happy I can control my flight in stabilize simple mode.

I also learned that you cant kill the motors on landing when you are in any other mode other than stabilize. This certainly made a huge difference to landing properly. ( This point is missing in the Wiki so suggest it is clearly listed somewhere)

There still seems a few issues such as a strange intermittent  noise from the motor and sometimes a sudden wobble spasm for a few seconds hear and there (might be a faulty motor/bearing)

Also noticed front right and back left motors were extremely hot compared to the other two arms.

I'm also wondering if the 4C 3300mAh  battery is to small for the rig. I'm running 8 motors with fly weight is 2.3kgs.I would have thought 4C and 3300mAh would be OK, just a shorter flight time. I might have to put the two batters on the rig and see how that goes.

So now to check the logs and video and see what I can get from those.

I had the same, 2 times uncontrolled flights and crash. No more quadrocopters, just plane.

With plane APM 1 works no bad..

that is very scarey Marco. This is also what I am scared can happen if my copter hits someone. Where I go to test fly I make sure  there is no one around. I very much worried something like this can happen. Thanks for sharing.

Thank you Andrea thought, but I think I'll stay for a while behind the scenes if not I will have some concrete answers by the development team.
Obviously it comes to testing beta versions, and it is obvious that these things can happen, but my speeches are aimed at other things, discussed on the dev list, so invisible to all people here.
Too many unresolved problems recently, perhaps take over other changes implemented wrong, and then to read certain things to me is a little sadness.
Unfortunately for the type of test that I do when there are crashes, it takes hours to fix everything, of course, as well as money, and it starts to get bored seen setbacks in some things.

The important thing is that no one gets hurt, and for now I do not think this has ever happened, but I missed very little.
the best facilities and better implementation that we provide demos and more and then not see them implemented, and this leaves a bad taste in my mouth a lot.
If you do testing and propose alternatives solutions then leads to believe that these results would be absurd to continue (imho).
My heavy octo is operational again, but it certainly will not do tests on that until I know that some know and unknow bugs will not be permanently solved.
The hope is that soon will change some things to make sure that you can run certain risks in a controlled manner.
There are other good testers here that will continue in the community.
I work for Redbull with drones for making videos quite important in some extreme conditions, the desire was to work this summer with ArduCopter, but given recent events I think there is still much to do to achieve good standards of flight safety, we are still on track if we interpret the signs of danger.

There are things to come as regards AeroSim, soon this will help save time and money in debugging.
It's time to dust off my Mikado Logo 600 with V-Stabi... i'm going to do some "3D flight" with controlled smackdown, sure (or almost) all back home entire,
or destroyed for my mistake.
I'm sorry if I may have bored, good flights at all!



Any similarities with Johan's flyaway log the other day?


Hobbies are for spending money on. If you want to save money, buy a hybrid car ;)

Of course isolated from the electronics, as they have steel parts evident at the extremes

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