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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would it be likely to be in the MP version before the weekend so we can try it JL?

Im with on this to Geir,  after weeks of fiddling and tweeks we finally get the latest version working to a reasonable standard and then the version changes with all the fixes added , but then also all the new addons that then introduce a whole now batch of bugs.  For the well seasoned RC flyers these are probably not to much of an issue, but for people like myself who are just leaning to get the rig to stay in the air it makes it really difficult nervous. We just want it to fly so we can learn how to control it, but its difficult if we don't know whether the strange behaviors are pilot error or firmware issues. 

Im not complaining and whole heatedly appreciate all the effort that goes into the development. Perhaps the Mission Planner could have two versions to access from there?, one that is the previous  version that had all the bug fixes, but without the new addodns and a second version with all the bug fixes and with all the new addons. The latter being the beta version.

Another aspect of hexa's/octo's is the redundancy, being able to make it down safely if a motor or esc checks out. Marco, will your octo still fly with a motor out? 

I'm not suggesting you try it though ;)

Dave a few weeks ago I had a motor failure on my X8 quad and when the motor stopped it kept flying as if there was no difference. APM completely compensated the difference and It flew for about a minute heading to RTL like that and then I landed it. ( i bit rough landing but thats from my poor flying skills)  So yes for redundancy its very good 

Its not very clear but about 40 seconds in the flight the motor ceased.

Thanks for chipping in John that's a great example of why eight legs are better than four....

Sorry what I should have said was its a great example of why four legs are good, but eight legs are better ;)

I remember watching that video when you first posted it and thinking, 'Ballsy take off, I like it!'

Thought exactly the same when i watched it again :)

Hi,Randy! Does Arducopter 2.4 support X-Plane simulation and Qgroundcontrol? How can I do that?

Hi folks,

i got 2.41 on my octo.So far , no problems,brilliant flying experience,big thanks to the devs.

But,if i connect the servos of my cam gimbal,i got  a weird behavior of my octo.

Motors start without any reason,whole thing is uncontrollable.Does anyone have the same issue with 2.41 ?


Hello Rui,

I have flown and tested from monocopter (heli) to hexacopter and as far as I am concerned, personnaly, I think that more the motors more the payload and better the lift efficiency. My small quad (F450) is able to lift about 250 g of payload and my hexacopter (MK Mikkrocopter) is able to lift up to 1.5 kg of payload...

Here a rough calculation:

Take the TOW (Take Of Weight in Kg) including the payload, for a quadcopter, the (TPR) Total Power Requirement is: TPR = TOW * 800 Watts/kg , so, for a quad (N=number of motors), this give for each motor,

the MPR (Motor Power Requirement) : MPR = TPR / N

i;e. for a quadcopter of 1 Kg (payload included), we have a TOW = 1 kg

this gives a MPR = 1 * 800 / 4 = 200 Watts

So four motors of 200 Watts for this quadcopter.

You need to use a low Kv brushless motor (about 550 to 700 Kv) with a big diameter propeller (i.e. 12 x 4.5) ..

I hope that I have answered to your question...

Regards, Jean-Louis

Which APM?

Fred, how are you powering up the board ? Via a separated ubec or via one of the ESCs' bec ? If it's the last case, and it's a 2amp BEC, you might be experiencing what we call brown outs, that is, the board may not be receiving enough power to feed itself, the peripherals (like gps) and the servos, causing abnormal behaviour. Try to power it up with a 3 or 5 amp ubec to see it the problem goes away.

Hi JL :) I was wondering more about other factors like stability in flight, greater horizontal speed with less inclination, etc, those extra motors I believe will make the difference to, and stability in windy conditions. Thank you.

It got the power of one of the esc´s,which is 3  amps.That´s not enough ?Don´t have a ubec here,might as well feed the servos from an other esc´s bec ?


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