ArduCopter User Group

Discussion group for ArduCopter users

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Direct Control by MavLink

Started by Lucas Cesar. Last reply by Lucas Cesar 5 minutes ago. 2 Replies

I'm working on a project that consists on control my APM with visual studio c++ code. I did the first step: sending a hearthbeat message to APM and receive some parameters like yaw, pitch and roll. I…Continue

Graphene batteries

Started by Cala. Last reply by Tony K 36 minutes ago. 24 Replies


Lidar Lite V2, need recomendations

Started by Cala. Last reply by Cala 1 hour ago. 11 Replies

After near tree months I recived happy the Lidar Lite V2, but now I have a concern because, apparently is discontinued?something wrong with this thing?It's a risk to put on my quad? :(Continue

[Iris+] How to change the on boot configuration of the I/O pins of the Pixhawk

Started by Mario Salomone 3 hours ago. 0 Replies

Hello. I'm working on the Iris+ drone of my University in order to add some new sensors (it's the purpose of my master thesis) but I don't have experience in programming. Right now, in order to make…Continue

Comment Wall


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Comment by John McGrath on May 20, 2013 at 1:45pm

Glad to be part of the group. On the brink of ordering a loaded quad from however I want to use my Hitec Aurora radio is there anything i should be aware of? Or should I just order a TH9x for it and be done with it.

Comment by Randy on May 17, 2013 at 11:52pm

Re, "where are we with ArduCopter 3.0", we're at release candidate #2 now which you can find here.  There was a temporary problem with the downloads area so initially I could only put rc2 into the old downloads area.  Anyway, the new wiki is the place to get it.

Comment by Charles lakins on May 17, 2013 at 1:49pm

the version 3 is listed there (rc1)

Comment by Vikrant on May 17, 2013 at 11:30am

Just wondering when is the Arducopter 3.0 release scheduled?

From the git log I can see that 3.0rc2 milestone has already been reached.

Comment by Jim Frantz on May 16, 2013 at 8:18pm

Thanks Randy for saving me a bunch of time - I didn't realize till your reply that I could change parameters from the Advanced Parameter List thinking it was only a listing of explanations.  Dumb me.

Comment by Randy on May 16, 2013 at 7:06pm


     Re where to find the ACRO_P parameter.  You can find it in the Mission planner's Configuration, Advanced Parameter List.

Comment by Jim Frantz on May 16, 2013 at 9:07am

Where do I find Acro_P to make adjustments per the Wiki?  It is documented in the parameter listing and Wiki but I cannot find where to actually adjust it. 

The APM does acrobatics.  WOW!  I'm thinking I need to increase the Acro_P to increase the rate of roll and pitch.

Comment by Guillaume Braibant on May 8, 2013 at 1:57am

Hello Remus,

I am doing the same work as you. There is no manual about the structure of ArduCopter but the code is very well commented.

Howerver, the structure of the program is easy to understand and will not take more than one week to be fully understood.

Start by the Arduino References to learn basics.

Arducotper code is written in C programming language. I advice you to start by reading the ArduCopter sketchbook and figure out which operations the program perform and at which rate.

Then, read the files defines.h , config.h , parameters.h and parameters.ino

They will help you to master all parameters of the ArduCopter program (Parameters are very important if you want to make code improvements compatible with Mission Planner, I advice you to read the AP_Var lib in the AP_Common lib).

After, it is up to you to follow de lines from ArduCopter.ino to get a better knowledge of some arducopter functionnalities you want to improve.

Best regards,

Guillaume Braibant

PS :

I apologize for english / spelling mistakes but it is not my native tongue (French) and I do not have much time now to correct my message.

Comment by Charles lakins on May 7, 2013 at 5:56pm

Might be best for you to start small with the arduino site

if you can grasp that then your on your way

Comment by Remus Avram on May 7, 2013 at 5:37pm

Hi all. Other than reading code line-by-line is there a manual/hierarchy of the ArduCopter code? How about a manual for the ports of the APM 2.5 and how to address them? My goal is to gut down lots of the code and I'd like to get closer to understanding how the whole code works, yet there seems to be very little literature on this.

I'm also looking for someone who wishes to partner up, I have a lot of academic background and ideas I'd like to apply, share and implement.

Warm regards,



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