ArduCopter 2.7.1 will become available on Mission Planner and in the downloads area shortly. This release contains a few important bug fixes as well as the first implementation of the MPU6000 sensor-fusion code. 

Detailed changes are in the commit log. Here's a summary:

New:

- Preliminary support for MPU6000 on board sensor-fusion (DMP)

- AP_Limits: Experimental "bounce" mode, for smaller spaces (LIM_RECMODE)

Bugs:

- Bug fix for yaw error buildup on takeoff

- Fix in Auto mode for failsafe handling

- Fixes to 3-axis camera gimbal code

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Thanks, Andreas! It's in the Mission Planner now.

Very Cool I will try to test this afternoon

Does this address the wobble in loiter mode...........Don

yeah... My tri on 2.7 would Loiter great.. just a obvious wobble..  what caused that ?

How do I implement crosstrack, is it CLI only?  It is grayed out on the config screen.

So what is meant by "sensor-fusion"?

The MPU internally "fuses" the Gyros and Accels to calculate orientation.  Currently this is done in the Atmega 2560.  If the DMP can do it well, it will free up a lot of overhead in the Atmega.

Thanks, this is understandable.  So does "Preliminary" mean it is only partly implimented at this time?

APM1. Camera gimbal is not working. The Pitch and Roll axes not correctly work.

On the Arducopter Config screen it says Crosstrack Correction but it is grayed out at 0.  On Parameter list it says XTRK_GAIN_SC, and I can chnage that.  Should I change that value for crosstracking?

Matt, it has flown at least once and is intended for A/B testing (comparison) by experienced pilots. The code is brand new, so caution is required. 

hi all.

Small test v2.7.1 apm 1.4, sonar lv ez 4,  frame xaircraft 650v4 motor 850 xaircraft, 10x4.5 xaircraft , 1.350 grams, plush 10amp esc, lipo 2650

quad octo testing soon

default pid no wind.

mode stabilizes. excellent very stable orientation.

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