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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Yes you may try that also, so only signal cable is connected from the board to the servos, since it could be a peak drain somehwere that could cause the board to malfunction.

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

Question: Ive loaded 2.4.1 onto the the new hex copter, and the original it came with was 2.2.1  I saved the param settings when it had 2.2.1 so can I still use those params now it has 2.4.1 loaded? Any issues I should be aware of doing this? Or is it just best to adjust the default params of 2.4.1.?  (eg stab roll/pitch on original params was 3.700 )


I had same problem in my hexa (apm1  2.4).

Roll servo was bad, I replaced servo.behavior is OK again.

Timo K

You can load the old set of parameters, but keep attention with the new "RATE_D" and "STAB_D".
I think the new firmware, if it passes the necessary tests will be released within the week, then I advise you to wait.
By evening, if all my tests give positive results, will post here my results.
The new "dcm patch" by Tridge which I test, and that yesterday has tested JL, is not available on the GIT for security reasons.

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

You were right, Rui.

I only connected  one servo,everything ok.

Thanks a lot.

btw got APM 1


Hi all. Where in the logs can I see motor output for each motor ? I had the same dive with motor 2 I had on the other day, with the same software version (not the latest git changes). I would like to know if it was problem from apm or esc issue.

First you'll have to enable motor logging, using CLI.

Marco so what do you recommend to set the rate_D and stab_D to for say the X8 and the hex jdrone? I might try the default 2.4.1 and set STAB roll/pitch to 3.800 I 0.002 IMAX 40 and leave the rest as is and try it. What do think? I really want to try it tomorrow and see how ti goes.

any idea why the altitude reading is going weird in MP? I thought it might be the telemetry rf interference but i moved it way and its still the same. I disconnected sonar and its not that. I have the barometer covered with tissue so cant be wind affect as well the props aren't turning and the APM is connected by USB.. This only starts one i connect using the telemeter. what should i tick in the tuning panel to check what it might be?

Well, you may be connecting with USB, but your Xbee is there right?  Could be EMF from the Xbee.

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