Version 2.4 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area.  Although not as big a change as the 2.3 release, it still includes a respectable number of enhancements and bug fixes.




Bug fixes:


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 in 25% steps.


Thanks go to the numerous contributors including users and their detailed bug reports, developers and testers.  Hopefully all together this will add up to a nice smooth release!


As per usual, please post your comments, issues in this discussion.  For enhancement requests for future versions, feel free to add them to the issues list.  Note:  you can "star" an issue to receive emails when someone comments on the item.  On the dev side it helps us because we can get an idea as to which feature requests are the most popular by sorting by the number of people how have starred each issue.

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Pitch/Roll rate D P set too low maybe?

im not at home at the moment - i have not made any changes to the defaults yet....any tips im flying 11x4.7 props on ntm 3536 910kv motors and 780mm motor centre to motor centre....

thx for hte help....

Could just be a funny leftover parameter from testing if you didn't erase/reset after loading, or as Robert suggests, the Rx is browning out and acting strange when there is current being pulled by the motors.

Note the small change I edited above, that should be rate P. I can reproduce your problem at will by lowering them to 0.

If STAB_R and STAB_P are too low, that may happen too. When I first tunned STAB with ch6 and started from 0, I had no pitch or roll, only when I started increasing the values it begun to respond.



yes, STAB_R = stabilize roll / STAB_P = stabilize pitch (P values)

thanks for the help guys... I figured I would just load the 3dr default parameters....i know have quad that loiters pretty good...and responds to pitch and roll input for rc..... will need some fine tuning but flies good enough to run thru a couple of 5000mah batteries in no time... some 12" props will be in order shortly as the 11's just dont cut it.....

will update as i go....

This is not working for me.

Please take a look to attached pic.

Flying 2.4.1.

Slow flying and turning around, is not a problem. It flys smoth and nicelly.

Now I have tried following:

Fly 30 mts away, and then return fast in stabilized mode. When trying to stop the movement I input pitch in the opposite direction. The copter pitch for some seconds in the correct direction and then stops reacting to the pitch input and takes some time to recover.

This only happends if there is some speed involved.

The copters reacts very well to high pitch commands as long as there are no big desacelerations.

Any advice? I have had already to many crashes....

Would this get any better with APM 2 and DMP?



Hi Pablo,

I have this too, and seems to be normal if you have a too high RATE_D. I don't know what is the value you have in RATE_P_D and RATE_R_D, but I'm now using a more "conservator" value of 0.003 ! Today I tested it with 0.012 value and after pitching or rolling to one side untill it gained full speed, if put the stick in neutral quickly, the quad made a sudden "brake", leaning on the opposite direction (mine was almost at 90º ... AMAZING but scary), and when that D term is "braking" the quad, until it stabilized, did not respond to stick in the same direction, so try to lower your RATE D term a bit to see if it gets better.

Hola Rui,

               all D parameters are set to 0.001

Maybe is a sililar issue, but on my copter only happen when is travelling with certain speed and you try to make it brake.

Lets see what the gurus tell us.



I have also done some high speed flights translations today with my F450 and AC v2.4.2xp2 and I got the same thing as you, I confirms that you said. As long as you I push the stick forward, the pitch is ok, but if I release the stick to neutral, the quad pitch back violently like a horse and it need some time to be quiet again in stabilize...

I have tried to replicate this in HIL mode simulation on AeroSIM and this not occurs... In cool flight mode, the loiter and the stabilize mode are perfect... I got also a drift on my roll/pitch stick after few minutes of flight. I need restart the APM to retrieve my neutral (not replicable on the HIL sim)

below my tested PID.

Regards, Jean-Louis


i have experienced an identical scenario twice on my APM1, and both times only when flying fast....
flying slow doesn't seem to have these issues ;-(

Let me know if you ever figure this out?



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