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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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.

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 ?


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.

You were right, Rui.

I only connected  one servo,everything ok.

Thanks a lot.

btw got APM 1


Hi folks,

i found the solution for my problem.

As Rui mentioned , i didn´t have enough power.

What i did: connect four esc´s powercable to APM.

Works fine


Do NOT connect multiple ESCs together. Use a dedicated BEC with adequate power...

Fred, you shouldn't do that either. You may use 1 bec to power the board, and 1 bec for each servo, but don't use all the BECs from the ESCs to power the board or you will have brown outs the same and bad behaviour. That could only be achieved using shotkys diodes if I'm not wrong (not an electronic expert). I had my powered with all the ESCs power at the beginning and I had lot's of problems without knowing that, because I thought : well, they are in parallel that's ok. But it's not that easy since they are comming from different power sources (each BEC is an individual power source).


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

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

Timo K

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 )

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.

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.


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