Here a video about the HIL tests of the firmware ArduCopter v2.2 b2xp2 (with JLN updates) with an Helicopter in H1 mode (Raptor 30 type) on the AeroSIM-RC simulator.

The tested features are:

- LOITER mode (GPS position Hold),
- RTL (Return To Launch),
- AUTO mode (GPS autonomous navigation),

Tested with AeroSIM-RC v3.81 and an ArduMega 2560 (APM1) through the APM mission planner v1.1.20.

This is an alpha version of the firmware and only for explorers and testers....

Transmitter: Turnigy 9x, Receiver: Turnigy 9x8Cv2.
Helicopter model simulation (type Raptor 30) with 1 roll servo, 1 pitch servo, 1 cyclic servo (type H1).

More infos at:

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  • Merci Jean-Louis!

  • Developer

    Il y a une bonne documentation sur l'installation de l'APM, de la compilation du firmware et des réglages de base à:

  • Merci Jean-Louis, nous nous retrouverons de temps en temps ici même.. Le domaine des hélis tradi est un peu le parent pauvre chez les APM's et les updates sont rares et curieusement bloquées sur le Trex 450 .. Et si je pouvais apprendre comment  compiler et utiliser votre firmware avec les patches, ce serait super...

  • Hi im new to all this autopilot stuff. i can fly both helicopter and aeroplanes. but getting a pan and tilt for my Trex600. Could someone tell me which to go for Adrucopter or wait for APu 2 to come out? Thanks austin

  • Developer

    Here a video of the T3 Two rounds mission competition simulation done with an helicopter (type 30 in H1 mode) with the firmware ArduCopter v2.2 b2xp3. The firmware is connected in HIL mode with an APM v1 (APM 2560) board through the Mission Planner v1.1.20. The flight plan follows the path of the T3-2 competition mission rules.

    This simulated mission is done with AeroSIM-RC v3.81 (retail version) and its HELI-30 virtual model.

    Regards, Jean-Louis

  • Developer

    Here the Throttle/Collective curves currently used by the AeroSIM-RC "heli 30", this is a similar curves used in a common Rapton 30 Heli in normal mode. I have now implemented this in the Heli_H1.pde mod in the ArduCopter b2xp3 firmware. This on board mixers will be used to steer real UAV helicopters through the APM without the need the use of the heli-mixers of the transmitter.


  • Developer

    Hello Hein,

    Yes, this is planned in the summer. Ishall use an APM2 to test my updated firmware on my helicopters UAV. Here some photos of my current flying models:



    more photos at:


    more photos at:

    I am currently improving the HELI H1 mod for ArduCopter v2.2 b2xp2 by adding a throttle (ch3)  to collective curve (ch5) so as the firwmare will be able to steer completly the helicopter in full autonomous flights in AUTO mode...

    Stay tuned,


  • Hi Jean-Louis,

    Did you already take it to the next step (real flight testing on one of your heli's)?  And if you did, did you do all these tests, RTL, Loiter, Auto, ect......  Tell us also if you where using the lasted APM2.

    Looking forward to your reply and updates on this.  Great work.



  • Developer

    Hello Robert,

    You may download the ArduCopter v2.2 b2xp2 firmware with my HELI H1 update, AUTO Landing feature and some others improvements: HERE

    Below you will find the good PID setup and Simulation parameters for AeroSim-RC that I have tested in the demo video above.  As you know , I am also a RC-Helicopter pilot and I have a Raptor Titanium 50 and some others bigger heli (gas powered) and I can say that the Raptor fly like in the simulation...

    You will find a tutorial about the use of AeroSIM in HIL mode that I have wrote HERE

    Happy flights...

    Regards, Jean-Louis




  • Randy, I think his changes are mostly in scripting for the auto-landing?  Maybe Loiter control?

    Jean-Louis, where can I get the code you're using to do this (to use on the real heli, not HIL)?  Is it ready for that yet?

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