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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Indeed it does, thanks for sorting that ;)

what about a foam base glued on the support plate with 3 or 4 pieces of velcro on top and gluing the other velcro parts underneath the board and attach it to the foam base ? I believe that would remove a great deal of vibration.

Hi Marcos... work fine here, have you follow my instructions in the wiki?
What's the problem?

Yes i have,

but they are emiting erratics beeps sometimes and 3 beeps other times (like when no rc conected).

I'm going to upload everithing again and see, i'm using APM 1280.

i was asking because of your reference to the hexa test not included, was thinking perhaps no one was included, but i was no lucky.

Thanks for your response, ill update it in proper way when reloaded

Yes, is not included in th planner release at the moment, you must upgrade your APM with Arduino whit the latest GIT version.
Please keep me informed, good luck! :-)

Make this, 4 mounts per motor.

These are mine that I made.


There's big problem with dcm "fast" (I have already occurred), a complete blowup, stop to work and don't restore, high risk to crash if brings the quad to do pretty aggressive maneuvers.
The dear Roberto Navoni found the problem, and I replied for two times in a row in 30 seconds, with my little quad in my hands (disarmed motors), therefore is not a random thing, it's real problem.
Replicate the problem: quad in your hards, motors disarmed, nose up over 90°, i suggest 180, like inverted flight and again down (return orizontal), repeat the step some time and the DCM go in a complete blowup, now you can see the hud completely gray... blowup!
Apparently the problem occurs only without gps fix, regardless they should not do.
I tried both with 2.4, 2.4.1 and with latest GIT, the problem is the same.
The problem has been present for months, is that no one had ever noticed.
Alert was due, even if it is a situation quite difficult to replicate in flight, but regardless of this they should not do.
One thing is certain: HUD should not go gray! :-)
Stay tuned for future fix, and now fly at your own risk (my quad remain stationary for a while to the ground).
Here my video with the bug.

 -= Marco =-
(AC Dev Team)


    when switching between Alt_Hold and Loiter I get some altitude deeps. See attachment.

Is Loiter holding altitude or only manual throttle?



PS: My Mission Planner has changed to spanish!!!!!


wow... nicelly done Roberto and Marco... I will follow the sugestion and stay grounded for a while ! Thank you.

Yes, found the problem, in ArduCopter.pde, line #1807:


If you replace with:


the problem is gone, but we are waiting for official confirmation and the changes from the dev team, because the dcm in "fast" is important.

Hola Marcos,

                    I been turning my copter for about half an hour in all directions without been able to reproduce the problem you mention.

Does it happend at some special rate?


No Pablo, only in front direction, nose up (over 90°, i suggest 180) and again down, repeat the step.
We have reproduced the bug in two more times, is not something casual, others await confirmation.

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