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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Rui is a marginal problem, but you can see in my videos just finished upload it.
I was presented only once I did the AutoTrim, before everything was ok, for the reasons I have already explained.

Hi droners,

I maidened my brand new Y6 hexa yesterday, using 2.2b2, tested STABLE and ALT-HOLD, all with default parameters, so no PID tunning done yet. All I can say is WOW!

AC2: v.2.2b2
Motors: BC-2836/7 1120kv
Props: 10x4.5
Weight: 1950gr + Batt. + Camera(s) (GoPro/HD Wing)
Batts:  4S  2650mA, 3000mA, 3700mA
Size: 57cm from motor to center

Check the video it's a 3 views shooting, stabilized GoPro, HD wing on arm pointing at Gimbal, and main screen taken with mobile phone.
Last minute of the video is a detailled close up of the gimbal working.


You can see the pitch is a bit nervous, I had expo on roll but not on pitch (grrrr.)
Things to tune:
- AltHold, although is quite rock solid, is slow on response
- Yaw, good, but overshoots a bit, previous versions yaw jump is gone!
- ...

I must thank the Dev team, your doing a great job!!!

btw, I might take the landing gear off, why do you need it if you can simply catch it in the air ;-)


I thought that was the IMAX value - is it not?

No, definitely not.  Imax is how much I term can wind up.  Eventually it hits a ceiling and will count no higher.

No this is the normal loiter and stabilizer from the b2. Yes of course it can be smooth, but I haven't enough time due to the storm approaching...

Woow good work Marco, Thanks to Igor...

Regards, Jean-Louis

Even your results are not bad! :-) Thanks mate!

Great flight, I watched the video :) I'll give it a try tomorrow and try to get data back (logs, PIDs, video)

It looks like it's going the right way, thanks to @Jason, @Igor, and @Jean-Louis, as well as all the other who have been contributing to this, like @Emile, @Chris, @Roberto and @Michael. Great minds doing great things no doubt :) hope I have a good flight too tomorrow.

Hmm, according to PID setup howto it is an angle - at least for Rate. And it also looks like an angle for Stab (should be around 45 degrees max, so 40 imax looks sensible if that's it) - are you absolutely sure? 

Marco : As I remember channel 8 is a problem with quads due to some hw failsafe muxing as discussed in this thread :


Have you changed the PPM encoder firmware or anythiyng? Or is the SW usable for a normal APM v1 quad? I guess that ch7 option in MP is not workig with this code either since you have modded it for roll gimbal control? I am eager to get a  AC firmware onto my quad that makes me feel something else than a kamikaze pilot, so I would really like to test this.

Amazing and totally impressing video btw. At last maybe the AC copter will reach some form of maturity. This is promising. Great work from all involved!

I'm not absolutely sure.  But I'm going to go out on a limb and say the Wiki is wrong.    If I was sure, I'd go ahead and fix it.  

Jason?  Is the wiki right?  It makes no sense to me.


Hi Geir! Thanks! :-)
Absolutely, i always use ch8 because i've reflashed the little Atmel 328p with the right ArduPPM code for AC... :-)
The gimbal roll control on ch7 is active, but irrelevant in the small quad (there is no gimbal lol), anyway the CH7 option (SAVE_WP etc.) work fine, no conflict ... obviously I will never use them together.

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