The timing of this is poor, but I figured people might want to try an alternative to the quickly developing Andropilot.  I'd like to release what I have been working on, just to get feedback and bug reports.

The development of Copter-GCS stalled quite some time ago, but I recently picked up the source and started fixing bugs and adding features.  The app still has some quirks, and the UI is pretty terrible, but the function is there:

It includes:

-A full Heads Up Display

-Mission planning, with all commands and parameters available

-Follow-Me with offset mode, Guided Mode flight

-a Command Line terminal

-built for Android 2.2 and up

-full parameter editing

-works for Arduplane and Arducopter

-text to speach announces mode changes and waypoints reached


The included mission planner needs some instructions for use. All possible options are available, so it may be a bit dangerous if you don't use them correctly.


-to set a waypoint, long press in the map view, or use the "add waypoint" button in the list view menu.

-waypoint 0 is the uav's home location. It is important to keep the elevation frame as "Mav_frame_global" this means you are using actual ground elevation

-this app will automatically set the ground elevation (from Google's API) which is why it may pause for a few seconds when the first waypoint is added.

-when you add additional waypoints, the default frame is "mav_frame_global_relative_alt", which is an altitude relative to the home elevation, which is 75 meters by default.

-you can add as many waypoints as you like, then go to the list view to edit them, change then to do_jump or whatever, add in the parameters, etc. Then go back to the map and Save to UAV. I would suggest after you get confirmation, you Load from UAV to check that everyhting is correct

-All mission commands available to Mavlink have been included in this app, but there are some options that have not been implemented by Ardupilot or Arducopter.  Not all waypoint types will work, for example, DO_SET_RELAY doesn't work for APM2 UAVs.










The app connects to your telemetry with a bluetooth to XBee/3DR radio bridge:

APM<-->XBee/3DR<------------------------->XBee/3DR<-->Bluetooth<----------->Android Phone/Tablet

The bridge consists of an XBee or 3DR radio, and a Bluetooth radio, connected by serial port. There are expensive solutions for this, but I have made a inexpensive bluetooth module that includes a power regulator, a bluetooth radio, and a plug for my xbee.  If anyone is interested, I can detail the build process, and/or offer a hardware kit (with the smd bluetooth chip already soldered). The good thing about this set up, as opposed to a usb link to the radio, is (obviously) it is wire-free, and it is possible to have a stationary antenna, and even add in antenna tracking, and it is easily switched to link with a bluetooth enabled laptop..

According to [Pieter], this [DealExtreme Link] ($8.20 w/ free shipping to USA) works almost out of the box.  Set it to 57000 baud by connecting it to your computer with an FDTI cable, RX to TX, TX to RX, power and ground.  Open your serial terminal (I use RealTerm) with 9600 baud. Make sure LED on module is blinking (DON'T pair it with anything yet) Type in transmit field AT+BAUD7 and hit send (UPPER case letters or it wont work). You should get a OK response indicating that it worked.  You'll have to power cycle the bluetooth before the change takes effect.  Then pair with your phone.

Connect to a XBee adapter like this:

Another connection option is to connect the bluetooth directly to the APM telemetry port.  Remember the bluetooth range is short, so you won't be able to control it in the air, but you can set missions and tune param while on the ground.  Instructions from Ioan:

Cheap Bluetooth serial module (CBSM):

CBSM VCC -> APM Telemetry VCC

CBSM GND -> APM Telemetry GND

CBSM TX -> APM Telemetry RX

CBSM RX -> APM Telemetry TX

and then the phone connects directly to the APM's bluetooth adapter: 

Phone <----> APM + Bluetooth

If anyone wants to test, please remember that it is still BETA software, so there are certainly bugs.  


Also, feel free to make suggestions and feature requests....

This community has been very helpful and supportive, so I feel bad requesting donations, but I have put lots of time into this application, and I'm sure Bart has as well.  If you want to buy me a beer (or a PX4), you can donate whatever you like here: PAYPAL




























































Confirmed Bugs:
-crashes without internet connection

-flight modes on arducopter do not show correctly

-auto rotation while in MAV_CMD list crashes app


Feature Suggestions:
-connect to xbee/3dr/APM2 over usb

-keep screen on (added)


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Finally got my bluetooth module. I know other posts indicated the use of another air 3dr radio but I only have the ground module, so hooked that up as you described TX-RX, RX-TX, 3.3v and ground. I don't have yet a bluetooth android to run your program so decided to test the equipment on winxp using mission planner. When I connected, it started to start the communication process but then it resulted to failed connection ... attached the usb to the computer and connected mission planner to the ardu and it connected fine ... disconnected and then re-connected mission planner with bluetooth while the usb is still connected to the computer ... it resulted to connection failed but between communication bluetooth and mission planner and failed communication, the different variables in the mission planner GUI were updating! Disconnected the usb from the computer, powered up the bluetooth and 3dr ground radio and then connected the mission planner to it ... same thing happened as in the third case above, while waiting for failed connection notice the different variables on mission planner were continuously updating ... Any thoughts on what's going on? Hopefully, when I finally get an android with bluetooth, the 3dr ground unit hooked to a HC-05 bluetooth will work :)

Roger, You may need to configure the bluetooth com port baud rate in WinXP, on the HC-05, and in Mission Planner to 57600.

But really, this has nothing to do with Android GCS, so you might get better support elsewhere on the forum.

Ioan, the channel 7 option is a standard parameter, so you can edit it in Android GCS right now, but it's not really user friendly. Looks for the values you should use here:

I should be able to add this option into the setup screen.

How do I disable the "centering at the place I'm at" when I want to look at the mission I've planned?

When I want to see my mission to be, the app shows me where i'm at, but i want to see te mission witch is programmed on my pc at home and 2 km futher away.

Every time I drag the map to that possition, the app "pulls" the screen back to the the possition I'm at........

so I can't see my mission.

Hi I am trying to get this working with 3dr radio connecties to bluetooth module, I set 3dr radio and bluetooth to 57600 baudrate, connected rx to tx and tx to rx.
I only get connection but no heartbeat, I have gcs running on my android phone.
Is there something I need to change to get a heartbeat?
Roger, Did you manage to get The ground radio connected to The bluetooth , i HAVe The same setup, I guess that the Rx on the ground radio have to be disconnected from the pcb, am I right?, thanks

Hello Seth! 
thanks for your attention!

I really need your help!

I need to build my own custom tool (like Mission Planner(MP) or QGroundControl(QGC) Ground station control (GCS)) to communicate with my quadcopter.

the quadcopter that i have is:

I'd be happy if I can build something like the Mission Planner (MP). 
Can you guide me on how I can create the graphical interface (GUI)? 
Also how I can send data and establish communication with the quadcopter? 
much appreciate your help and guidance.

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