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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Just to be clear, it doesn't need to be able to do more than it already can.

I only need alt-hold, loiter and RTL myself.  And maybe Simple to get it back when orientation is lost.

Really that is it for me.  But... it needs to be reliable!

I haven't flown the new code yet because I think it's a shame to thrash my copter just because I'm impatient.  The last thing I want to do is using code that is still in a testing fase.

So I'm kind of waiting for a final release without bugs that can be trusted, haven't seen that yet.

Again, don't get me wrong.  I appreciate what you guys are doing, I really do.

I just had more expectations from ArduCopter.  So I'm looking forward to seeing a stable software release soon.

So that means that if I have not connected ch8 from receiver to APM, I will be happy flying the zipped source that you attached here, thats good, was a bit worried there.

Think I wanna give it a try ...

Thanks a lot,

Bravo Marco proprio un bel lavoro ... ora ci vuole una bella verifica dell'rtl e della navigazione automatica.

@Jason, @Chris,@Randy,@Jani

check this revision of code and validate it . I think that this is the good patch for solve the last problem in the code.

Now could be interesting to understand if the code is safe .

@Jean-Louis,@Igor , @Rui and all other people that try to improve this great OS Copter

thank for your great support to the project


Roberto Navoni

I want to see your MP32 to fly the same tomorrow .... :-)))


I upload here the cleaned "AC V2.2ß2XP2" version about my "PIDT1" test if someone wants to try (thanks Rui for the fix).


Very nice flight with the APM 2.0.  How are you isolating the APM from vibrations (if at all?)  Have you noticed any drift issues that other users are reporting?



nice work Marco!!  love the video

Marco, congrats on your great results. Please remember that the developers aren't following every comment in these threads, so if you'd like the code changes merged, please use the devlist to make sure you get the attention of Jason and the other devs. 

In general, all suggest code patches should be discussed on the dev list. Even better, people should create their own Git branches, so we can merge approved changes with full delta-tracking intact. It's too hard to try to download zip files and figure out what's different. 

Hi Marco,

Thanks for sharing!

Would this fit on a 1280 board?

I have used three layers of thick double sided adhesive tape to isolate the vibrations between the frame and the APM v2. I have noticed any drift after 8 minutes of flight. The model is stable and the flight is secure.

The most important thing that I have solved my previous problem of tuning is that I have copletly forgoten the derivative parameter for the stabilize mode. This was the source of the sudden jumps form side to side. When I have lowered th the STAB_D from 2.25 to 0.05 I have retreived a normal tuning of the PID. I think that, in the soon release of the mission planned, this important STAB_D parameter must be shown in the main windows of the APM planner like the P, I, Imax and not hidden in all the parameters on the left side of the setup.

See below, my working setup for my frame:

Regards, Jean-Louis

Stab_D 2.25? The default is 0.02 I think, is it not? I tried it yesterday and it had the exact opposite effect to what I was expecting - the higher the D, the more it would oscillate, even with 0.1 it was unflyable. I settled on 0.01 just because I didn't want to eliminate it completely because others were delighted by it.. :)

exactly right, A high D will oscillate like crazy.

.02 to .06 is what you want. I will ask Michael to add it soon. I've done a lot of testing with it and it's working well enough to expose in the UI.


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