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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Hi Igor,


I loaded yesterday 22b6 on my tricopter, but had no chance to get it flying (---I figured after loading  that the yaw servo reveres issue is not implemented into 2.2b6....) and moreover I'm not sure on how exactly the CoG must be set...so I'm working on my CoG (put battery here and there, few milimeters left/right) but I hope to get it flying in the next two days.


Sorry to hear that you crashed. Hope my titanium/carbon/honeycomb frame will survice a crash .-)



ArduCopter 2.3 Final release in the planner:

Hoping that everyone can benefit improvements in this release we announce that version 2.3 Final is available on the planner, and was opened by Chris a dedicated thread.
Let's stop posting here, thanks!

Bests, Marco

Better tricopter support is planned for the future beta on GIT, stay tuned in the thread of 2.3 Final.

Well, I've been flying "old" 2.2b2xp1 PIDT1 with the reset_i_term() commented for the last few days to see if it would affect something else, and nothing so far, it's flying great, very stable and I'm just ending my tuning (I've been tuning 1 or 2 params by day because os battery and time limitations, as well as no laptop to take into field). For what Marco said, the only problem is with Acro mode (wich I don't use), that may cause a crash if you comment reset_i_term() (to remove the wobble effect at start up). I still can't understand how that affect, because after 5 seconds, either the copter is in the air or not, the I term stops beeing reseted, but... I'm not an expert about the code. I believe tomorrow I will finish tunning all the parameters (for my frame of course), but so far, the most important this is that it gave me no strage reactions os control losses, it flies great so far and I believe it was the best version so far after 2.2b2 and 2.2b2xp1. I still haven't started testing b6. I know a new release was made also but in order to have a version well tested, well tunned, I need a lot of time, sorry.

I've not deleted "2.2b2XP2-PIDT1" from my hard disk... :P

Remark on the table of pids

The yaw values are the 2.2b6 defaults. The rate yaw of my table are shown as 0 due to a problem of excel that hidden and rounded the real value ( see the attached Excel), that i guess is rate_y = 0.13
Apologize for that

I can't wait to have this one the tunned as I can to test b6 and compare. Both have their "little question". This one, I could eliminate the initial oscilations at the cost of not using acro mode, the other, has oscilattions if we use values in D terms, for what I've read and tested (just once). Also loiter mode making a climb wich happened to me and to 2 or 3 more testers, and the fact that, when I tested it, seemed more jumpy. Of course it was only 1 test flight and almost no tune, but, the initial impressions always influence the preferences.


Yesterday I downloaded 2.2B6 and installed it to the copter.

Using Mission Planner version 1.1.31 I generated a tlog file attatched.

It flew very well. The Auto mode works terrific using the ch 7 waypoint.

During selection of the waypoints you will see it go from alt hold to loiter then ch 7 was flipped.

This occurs at three points. Auto is engaged and it duplicates and lands perfectly and auto disarms.

There was a little overshoot on the second waypoint making it look like a arc.

With a little more tuning it should be able to repeat better.

I will try 2.3 on another date.

Thanks for the team effort :-)





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