Jason is travelling this week, so I'll take the helm for the next software release post. 

UPDATE: the motor remapping thing was confusing everyone, so we took that out and returned to the regular motor mapping. That means that APM 2 users with Hexas and Octos should wait for the next version. APM 1 users should be fine with any frame.  

NOTE: Hexa and Octo users: there have been motor mapping changes that may affect you. Please don't upgrade until we can update the documentation to reflect the changes. This should happen by the end of the day today (Feb 1).

ArduCopter 2.3 is now available in the Mission Planner.  This is the next revision of the ArduCopter 2.2B6 code, which is perhaps the most tested code we've ever released (1288 comments in the thread!)  and certainly in my experience the best code, too. 

The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P (default is 0.14, so start by turning it down to 0.1. In general tune PIDs in 25% steps).

Now that we've got solid code out there, we can turn to collecting suggested gains for standard frames, and a better guide to how to tune PIDs for your unique setups. 

Here are Jason's note on the latest changes (mostly from 2.2B6)

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.

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.

Note the Mission Planner does not yet highlight these D terms on the main tuning page (it will soon), but you can find them and modify them on in the Parameters list.

Autolanding should now work well (see video above) and the Tri servo issue is now resolved. 

The code should now compile with Arduino 1.0 (thank, Randy!), but remember that you need to use the "relaxpatch" version of Arduino in our downloads section

[Update: we've reverted the below. See update at the top of the post]

Important for Octo users:

We've changed some of the motor orders for some more exotic airframes. We'll be updating the docs on the Wiki in a day or two to reflect this. Pat Hickey explains:

As before, the hexa plus APM2 motor setup has changed from the ordering [1, 2, 3, 4, 5, 6] to [ 5, 6, 1, 2, 3, 4 ].

The Octa V layout for APM2 is:
6            4
  2        5
    8    1
      3 7
Motors 1 through 4 spin clockwise, and 5 through 8 spin counterclockwise.
Support for roll/tilt camera control on APM 2 should be coming in the next version. Traditional Heli will also be updating to this latest code as well once we track down a memory issue. 
As always, you can see a complete list of changes in the changelogs.

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Good work Graham,

Regards, Jean-Louis

Hi Andrea & Jean,

thanks for the kind comment's... will be out again today trying the Loiter and RTL so wish me luck!

I think this is the part when I will prob need some help tuning :-) video to follow I hope of today's flight.

Bonjour tout le monde

j'essaye désespérément de tester 2.3 en mode HIL chargé avec APMplaner avecX-plane9 mais "le throttle" ne varie que 0.111à 0.117,j'ai calibrer plusieurs fois la radio,sans succès;

avez vous une idée?


Logs etc. are with the issue report. I am using a quad rather than having a cyclic, some trim but not much. Did not change the trim in the flight where it happened 6 times but took twice.

Thanks, I will try later on today. Regards, Bill

Today I made the first flight.

I used the Firmware 2.3 plus all the changes from the link


For the initial setup I used the file from the link 3DRquad.param

http://code.google.com/p/arducopter/downloads/list, because I have a frame 3DR.

The motors are the 850kv and the propellers the 10x45, the battery is a 5000 4C.

The total weight is 1.650 gr

It 's alright, I find it a bit "nervous", which is very reactive.

I've only done take-offs and landings.

The engine control, however, is not linear.

The stability seems good.

I have to make the adjustment autotrim?

Unfortunately I had a problem with an engine, after Landing and disarmament, the engine emits a series of beeps.

I'm checking the connections.



If will be implemented should behave in this way, then the sequence will be explained for the various configurations, however, the test always rotates in a clockwise direction, with a break of 5/6 seconds when the chain is closed.
made a video to show how it works,
I hope that my amendment is introduced.

Andrea, check the esc calibration and the trim of your throttle in your tx.
Put the throttle trim in the middle position!
To make
your quad calmer reduce Stab P and Rate P.

Hi Johann! Start always with lower params like this, but of course depends on how you feel in flight and your configuration:

Stab P: 3,0
Rate P: 0,09
Stab D: 0,1
Rate PIT/ROL D: 0,006
Rate YAW D: 0

If with this params your hexa is stable it underwent the procedure of autotrimm windless , then try to increase some params if you want your quad much agressive.

Camera above your head? :-)
Much stable Graham.

thanks marco,

I'm checking all

the throttle trim is in the middle position

the radio is calibrated

the ESC are calibrated

although it is the first time I presents the problem

in previous tests were all ok

will check all and update


I thought it is recommended to set your tx to acro or plane rather than heli and not to use heli?

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