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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Uploaded but no LED's, not possible to connect. It gets as far as initialising the gyros then falls over.

Put 2.4.1 on for a consolling hover in the garden. 

I think I'm just going to have to wait aren't I. Shame work kicks off again this week.

4.2.1 just loaded fine with arduino 1 relax.

Did a test flight with default PID's and very stable in no wind situation.

AH could be a little more reactive but thats PID tuning an loiter was quite good 3X3m.

Nice .....

Looking forward to the next version ;-)

Many thanks JL, i can only second the thanks and praise that's coming your way.

To the field, I'll let you all know how the APM1 fails the APM2 focussed params

And JL, sorry for repeating my question, but does you quad behave well in stab mode with such a low rate_P? Do you use the params attached just for loiter testing?

Thanks, Dave

The info you put on your vids are just the best JLN.. very useful and comprehensive . thanks for the time you take to do this to help us all. . Just one question. I see you are using the APM2 , so how different will those settings be for APM1?

The sensors of the APM2 are a bit more sensitive and accurate, most particularly the baro, this give a better accurate alt_hold with the baro only. But I think that the PID setups can be the same for a similar model (power/weight ratio) and Kv.

Regards, Jean-Louis


Hey, I am not so good with C programming, but look at this nested commenting, doesn´t it appear a bit ambigous?

Commenting out a comment??

navigation.pde, line 57 (from 2.4.1 on GIT now)

x_actual_speed = x_speed_old + (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
y_actual_speed = y_speed_old + (float)(g_gps->latitude - last_latitude) * tmp;

x_actual_speed = x_actual_speed >> 1;
y_actual_speed = y_actual_speed >> 1;

x_speed_old = x_actual_speed;
y_speed_old = y_actual_speed;



If you look closely that makes sense in context with the next dozen lines. There are two means of calculating the same thing. Commenting out the comment mark (/*) at the start of one block of code easily enables or disables the desired calculation method keeping both of them intact for future use or code tests.

Thanks Don,

Yeah, I imagined I could be like that. So in this particular case, the block between the beginning /* and ending /* is currently in effect, since the beginning /* is commented out?

- Right? here is an intersting one....

apm2 installed in quad.......connected to missionplanner and all the radio channels work 100%.

arm an take off apm2 responds to Trottle yaw and mode switch but not a pitch and roll input....

im using 9x running er9x....

any ideas???

What's your power supply when not plugged into the USB cable for mission planner?

HI Robert

im powered by lipo when not connected to usb - apm powerd by 1 esc and rx powered by apm2 - shows the radio input correctly  when only connected to usb only also....

im totally confused cause the rx works 100% when connected to servo or esc?

I have done the power hack and this makes it power the rx as well from the usb power supply so no need then to connect the lipo while using USB . It works really well. here is the link.

Using the lipo and usb together has a few issues so I never do it now.


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