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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Dave: Great report. Many thanks for posting!

PACEFE see my video at 2:20, same problem i think...


I should add that i am loving the dji frame, mainly because of the low frequency vibes it kicks out - amplified by my new tupperware 'hood' it sounds like a V8 in flight compared to the flat-4 of the standard - pretty much vibe free standard ardu frame.

Testament to the ardu frame, it really quashes vibes, but also to the APM for coping with the vibes on a different frame pretty well too :) Also testament to spending a bit of time balancing and isolating the plate the APM sits on.

I also noticed a marvelous phenomenom today, I had a prop spinning the wrong way and on full throttle it made a noise like a steam train blowing its whistle - there's got to be a use for this, i might build a quintocopter :)

You are right.

Just tested and beyond 35 degrees sonar gives up.

I was only at 50cm from the floor.

Is 35 degrees not normal at forward fligth? Is sonar disable at this angle?

would not this crash my copter if I were flying Alt_hold?

About original issue, I hope it appears again to investigate.



Jap.., the same!

Have you any logs? (Found link in the video, but can not download it)

Lucky me!, I was only flying 50cm from ground.

Im new to SW (more the copy/paste style) but I ask my self, if such a complicated program with so many nested tasks wont be prone to hang under some conditions.

DMP on APM 2 should make this more reliable I think.


This guy got DMP to work on 6050.

Can we get the same on 6000?


Nice Marco.

So, time to put that thing to work? :)

Do you have any more data?  TLOG?  There's not enough in your file.  I'd like to see the motor output to see if it was trying to correct or not.

Want to see vibe free?  Check out what this guy did.  Pretty good work.


Yup, that's the last bit i have to isolate - the source. Floating motors here I come. Just you wait till you see my new lights :D

We have the DMP working on APM 2, but it is not legal to distribute the code. We're negotiating distribution with Invensense.

Sorry, but TLOG was not enable.

Will enable it for the future...

Only output 3 can be analized.

See attached JPG.

I was flying X and copter lean to the right, so CH3 out was totally wrong, while its a motor on the left side going faster....



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