Ardupilot 2.1 is out and can be downloaded by the mission planner (or with Git). You must have the latest version of MP to be compatible. If you're compiling with Arduino, you must use the "mrelax" version of Arduino that is in our downloads section. This is because Arduino was never tested with code larger than 128K. And since our code is probably the most complex Arduino project ever, we found the issue. This altered version of Arduino allows you to specify a special compiler flag that makes it work again. Otherwise it's functionally identical to version 22. When we transition to 1.0 of Arduino, you won't need to use a modified version, since they have patched it for us.


This version has a few new features, but is mostly a bug fixes and compatibility with APM2.  The nav routines have been updated and well tested. I'm getting very reliable results now. 

One new feature that I snuck in was SuperSimple mode, which re-calibrates simple mode when you are flying with GPS > 20m from home. It allows you to fly in any direction in Simple outside of this radius. Check the wiki for more info.

Added Auto_land mode to help with Failsafe implementations.


Here's a video I took flying WPs using CH 7 to toggle record them. I flew back and forth over the park to se how straight a line I could maintain and how repeatable it was, then I recorded a few waypoints to the left and right, then I recorded a landing wp by toggling CH7 when the copter was on the ground. The landing could be improved, it was trying to maintain a location and didn't level out in the last meter to the ground as it should. I was missing the screw holding my Arm in place so it folded in just a bit, no real damage done. BTW, this video is W/O a sonar.


The next video is of the Loiter control. I improved loiter a bit with a bug fix and the stability patch from the stabilization. Wind was mild. Could be tuned just a little higher.



Here's a video from Dec 17 showing WP recording. The radio was on the ground the entire video. The 3DR frame did not have a sonar on it. The landing was recorded as well.



Tridge wrote a Geo - fence routine to restrict flight within a certain area for Arduplane. We'll port that over to AC. You'll be able to fly acro inside a safe area and have it go into AP if you loose control!

We need one more pass to finalize the Optical flow integration.

Finalization of the Z Accel code.


Have fun and fly safe,







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Is it possible to reverse the Yaw output (APM not RC) from the MP? 

RC 4= -1 reverse only the RC not the correction.

Thanks for this release. I have been flying with it the last few days and it seems great. I plan to integrate (Hardware) my optical flow sensor on the arducopter this weekend. I see that there is an option to enable 'optflow'. Could I know what I should expect performance wise from the Optical Flow sensor integration in ver 2.1? Does it work with waypoints , Loiter , stabilize etc?

PS: I see Jason Short mentions in the post, "We need one more pass to finalize the Optical flow integration." Hence I want to confirm before I set my expectations?

Thank you again!

Today I finished building my 3dr frame, set up the props and did check the prop directions 3 times before going outside.

Compared to my last arducopter(the one that went missing with 2.0.38 firmware) this felt like i had to give a lot of throttle before it took off. It takes off good but drifts forward then drifts too much forward until it dives into the ground. Was just 0.5-1m up so nothing bad happend really..

What could be wrong here?

No sonar, gps was connected but not activated in firmware.

Firmware: 2.1 uploaded on dec.17th with missionplanner 2.1.8. 3dr frame,standard esc and motors.

This's loiter perfect in 2.1 , But now i don't fininsh about tuning ALT Hold.


Problems with the Git Repo?  

martinb$ git clone
Cloning into ardupilot-mega...
remote: Counting objects: 28404, done.
remote: Finding sources: 100% (28404/28404), done.
remote: Total 28404 (delta 18652)
remote: Error: internal server error
error: RPC failed; result=18, HTTP code = 200
fatal: The remote end hung up unexpectedly
fatal: early EOF
fatal: index-pack failed
warning: https unexpectedly said: '0000'

Hi there, I see the new MP has only X options. I'm flying a Hex, using APM, jDrones motors 850Kv and escs etc, but on a Droidworx AD-6 frame. I don't see frame holes to allow an X setup with the landing gear on this rig. Any advice for a noob?


You set X vs + in the MP setup process. 

Beautiful, thanks Chris. Just flew it, much more fun when I had the cheaper jDrones set up. Now I'm just worrying about how much it'll cost if I crash it!


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