I've just released ArduPlane 2.67

This release fixes a number of important bugs, as well as adding a few new features.

This release changes how the level parameters are stored in EEPROM, so it is very important that you re-level your plane after upgrading if you have MANUAL_LEVEL set to 1.

The key changes in this release are:

  • fixed a bug in the uBlox GPS driver that could cause it to setup the GPS with the wrong dynamic model, using the "portable" model instead of the "Airborne-4G" model. In some cases it could also leave the GPS in its default dynamic model. This results in poor navigation, and sometimes in poor attitude control due to inaccurate acceleration correction.
  • fixed a bug in the APM parameter code that resulted in the deadzone parameters of auxiliary channels not being able to be set. For example, setting RC5_DZ would actually set RC5_MIN.
  • add support for using vertical velocity from a uBlox GPS as part of the DCM acceleration correction.
  • added new accelerometer calibration code from Randy. This adds an optional calibration step that can be performed using the "accel" command in the setup menu in the CLI. See description below.
  • allow the CLI to run over the telemetry radio link. This is particularly useful for the new accel calibration code.
  • added a new secondary aileron type. I'm hoping this will resolve the ongoing issues some users have had with the secondary aileron support
  • changed WIND.speed direction to match the convention that the speed is based on where the wind is coming from
  • fixed handling of parameter names of 15 or 16 characters (they could appear garbled in the ground station)
  • added RSSI_PIN option to set the pin that measures the receiver RSSI
  • added support for showing compass health in SYS_STATUS MAVLink message
  • fixed throttle disable in VFR_HUD MAVLink message to always be between 0 and 100
    added new parameter APM_OFFSET (thanks to Alexey Kozin)

The new accelerometer calibration code that Randy did is particularly interesting, as it gives us a way to get the accel calibration much more accurate along all 3 axes, which should improve the attitude solution somewhat. It is not properly documented yet, but if you are feeling adventurous then try running the CLI and running the "accel" command in the setup menu. This replaces the normal levelling process.

Happy flying!

Cheers, Tridge

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Nice! :)

I hope on board data logging will work for me now! :)

Thank you Andrew!

Hi Gabor,

I'm afraid I didn't get time to look at your logging problem for this release, sorry! If it is fixed, its entirely by accident. It was on my todo list, but I ran out of time and didn't want to hold back the other fixes.

I'll look at it soon :-)

Cheers, Tridge

Thank you Tridge! :)

Hi Gabor,

I've now released 2.68 and I've checked that flash logging is working. Please let me know if it doesn't work for you!

Cheers, Tridge

Hi Andrew,

Thank you very much! :)

I will, as soon as my LRS arrives. (should be here till the weekend.)

Thx again,


Thanks Tridge, 2.67 has fixed the differential aileron.

I re-calibrated the radio with diff set (on Ch1 & 5). Is that right or should I calibrate before diff is set to show it full PWM on those channels?

Will the APM also use this diff for automatic modes?


Good to hear its working!

Letting APM know the full radio range does make sense.

Will the APM also use this diff for automatic modes?

the APM treats  the secondary aileron the same for all modes except manual, so it should work fine for auto mode. Note that I don't fly with a secondary aileron on any of my current planes, so if you have any additional notes or suggestions for the wiki docs please add them in the notes at the bottom of the page.

Cheers, Tridge

Tridge, it works very well (on the ground so far), I had to reverse my second aileron channel (CH6 in my case) in the MP and then all was well, both ailerons respond to roll in manual and in any of the other modes.

Spoileron (both ail's up) works well in manual but when switching to any of the other modes the second aileron channel offsets down about 30%. The CH6 status however stays 1663ms with both on so not sure why that is.

Great News!!!! Congratulations!!!!


"changed WIND.speed direction to match the convention that the speed is based on where the wind is coming from"
Is it a simple 180° reverse?

Because this way i have to change it in MinimOSD FW.


I think yes, as far as I can see that in this patch:


Is it a simple 180° reverse?

yes, I just reversed the vector for output in MAVLink after someone pointed out the convention is the other way.

Cheers, Tridge


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