ArduCopter User Group

Discussion group for ArduCopter users

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Custom Autopilot development - Theory through Implementation

Started by Wil Selby. Last reply by Stone1295 on Tuesday. 2 Replies

I started this project wanting to learn more about the ArduCopter software that was powering my APM board and 3DR Quad-C frame. I found …Continue

Tags: equations of motion, MATLAB, autopilot, Control System, ArduCopter

GPS err in altitude vs. flying a drone at low altitute 3 mts

Started by Darius Jack on Monday. 0 Replies

Hi,I would like to study GPS err in altitude,since Cala suggested problems flying a drone at 3 mts altitude in agriculture.Laser Developer offers Lidar technology solution.Let me know your  opinion…Continue

Motor spin slow than others

Started by Cristian Rougier. Last reply by Khoa Vu on Monday. 19 Replies

Hello, all , im working with APM 2.5, in X configuration, when i arm the APM, one motor (motor 4) spin slow than others 3.When i calibrate the ESC's in automatic mode, all spin with same speed and…Continue

Noob APM/PixHawk RC transmitter coming soon to HobbyKing

Started by Tony Kenward. Last reply by Khoa Vu on Monday. 3 Replies

I am not interested in purchasing one of these, but I thought y'all may be interested. [Chinglish description text spell-corrected and posted below]--------------------------------------The Quanum i8…Continue

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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,


Comment by Charles lakins on March 30, 2013 at 7:09pm

I created an APM2.5 & DX6i flight mode settings post in my blog RCG

it should help anyone setting up the radio and gcs

Comment by Bradley J Carr on March 28, 2013 at 2:20pm

I will await the arrival.  Until then maybe I can make my mini arcade machine.

Comment by Copter Richie on March 28, 2013 at 12:25pm

At Bradley and Chris, I really need to cross over to the other side. I also have a PI and been wanting to get a ArduCopter flying. Time to make that leap. Thanks, just the motivation I need.

3D Robotics
Comment by Chris Anderson on March 28, 2013 at 12:21pm

Bradley: We've already got MAVelous running Rasperry Pi, generating a HTML GCS over WiFi. Stay tuned for a product based on this soon. 

Comment by Bradley J Carr on March 28, 2013 at 12:18pm

I have a Raspberry PI sitting here infront of me and would like to know if you think using this to control the Mission planner and contolling the copter would be good?  I have never done anything with the PI but maybe loading the linux OS, Then I wouldn't have to thave my laptop with me.


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