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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yeah they look cooler..

:) yes but I would like to know if regarding stability they are more stable or doesn't show great difference. I think there should be some difference because there are more motors trying to stabilize, but I 'm not sure since I've never seen one "live".


Absolutely more stable, Rui!
Just watch my videos with quad and octo, you can see a lot of difference in stability.

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 :)

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

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.

Hello Rui,

That depends of what kind of mission you want... (Aerial photos/videos, topographical mapping, site survey, SAR mission...)

i.e. If you need to use a heavy camera (Nikon D5..), you need to use a heavy octocopter (high powered) with a stabilized camera platform. This will allows you to do flight mission in high wind due to the strong inertial of this device...

i.e. if you need to do a site survey for tracking object (car, people...), a small quad (low visual signature, low noise, stealth...) with a flir camera is recommended, it is highly manoeuvrable and able to flight missions at high speed and in various wind conditions. No heavy payload is required in this case...

i.e. if you need to do a long endurance and long range reco mission at a medium altitude... Its better to use a plane (with arduplane), the Maja Drone is the best here... Forget multicopters in this case...

There is no "magic" design which is able to do all kind of missions in all weather conditions...

Regards, Jean-Louis

Its my Opinion the size of the copter is a major factor in stability.

I am flying a tri with 1m sticks and it is far more stable them 90% of the copters I see here.

Quads and octo have trouble getting that big because then they don’t yaw properly.

Also of course, response time of the motors, and light weight props, tuning    ect make a difference

Video it from Tri-copter… APM2.. 4.2.1

Eddie Weeks

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 ?



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