Version 2.4 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area.  Although not as big a change as the 2.3 release, it still includes a respectable number of enhancements and bug fixes.




Bug fixes:


The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P in 25% steps.


Thanks go to the numerous contributors including users and their detailed bug reports, developers and testers.  Hopefully all together this will add up to a nice smooth release!


As per usual, please post your comments, issues in this discussion.  For enhancement requests for future versions, feel free to add them to the issues list.  Note:  you can "star" an issue to receive emails when someone comments on the item.  On the dev side it helps us because we can get an idea as to which feature requests are the most popular by sorting by the number of people how have starred each issue.

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Awesome work. I can't wait for the weather here in Alaska to warm up a bit so I can try this out for real instead of thrashing around in my living room.

I was eagerly anticipating the addition of CH_10 and CH_11 for use with camera stabilization, etc. Is there anything that needs to be done to enable these on APM2?  I'm happy to see that it works when I use the correct pins! :)

Again, thanks to everyone who has made this amazing work of art possible!

Been following the 2.3.1 thread--great job guys!

One thing to note, for the last hour I've been struggling with 2.4 (git pull about 3 hours ago) on APM1.x boards  with the ATMega1280: when I enable logging in the APM_Config.h I run out of program space! Erased eeprom, arduino 1.0 relax IDE.... My 1.4 boards (atmega 2560) have been running the 2.3.1 just dandy.

Not sure if this was accounted for in the MP hex release...I'll try the MP hex download now.

Cliff-E> I'm not sure if it still supports the 1280. We stopped official support of it months ago, but thanks to some miracles of code have been able to continue find workarounds for it for a lot longer than we expected. Let me know if the MP version does work on those old boards (I don't have any anymore to test).  That would be great if so, but no promises. 

No problem. Just downloaded--The MP hex also disables logging--hence, the prog size fits! Still need to retune the loops, but so far flies stable with the older APM. I'm going to dive in and look at the code and get logging for quads at least... Will report on any other issues as I test things out.

Then again, I can live without logging once I convert these Atmega1250 quads (2) to Y6s and then can compare against the APM1.4 hexa that I have running 2.4 already.

Looking at the default PID gains, should we expect a revision for the 3DR frame as well?

Just to say "THANKS" to all the ArduCopter Dev Team for this milestone release, and to all the tester!


Really love this video in the rain.... :-)

just loaded 2.4 on my octo, and all 100% defualt settings fly great, will tune when i'm out in the field. also like the new tune min/max feature, you can thus set a range of tuning which is great.

THANKS again to everyone involved!!



About AC 2.4 and "wobbling / twitching:

In the "2.3" thread I've read lots of friends who have problems with wobbling and twiching after the indroduction of "PIDT1".
would break a lance in favor of this new system, reminding these people that now ArduCopter is more critical in the pid tuning and hardware setup, although it offers unparalleled flight experience with previous versions, this according to many, my videos show the detail, as well as those of others.
The tests performed by the development team and many users report these positive feedback, but it is obvious that there are also negative.
My intent is to further improve those flight stability, by working closely with those who now has had no problems with earlier versions of 2.3.
Therefore, I ask these users to report their experiences in detail, with parameters and videos that can demonstrate how to fly their quads before and after the introduction of new features.
I read some negative feedback, but I have never seen their quad in flight, and I think we all have the opportunity to record them and post them on youtube / vimeo.
In this way can make this system even more reliable.
Of course, with Mikrokopter or DJI these problems are not there, but we know that you are forced to buy specific hardware to archive those performances.
The intent of ArduCopter is the modularity, but of course many parameters come into play and you have to understand what change to get best results with your hardware.


Hello Duran! I waiting new video of your beast with 2.4... :-)

coming soon :)

Just loaded 2.4. Yaw, pitch and roll just keeps running(not random. up/down)  when the bare board sits on the table. Only USB connected.

Tried latest Arduplane 2.28 to check the sensors and it worked fine.

I am using latest APM Planner.

Magnetic inclination is set to correct value.

Any ideas?


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