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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Mine always spins whilst disarmed on the bench when i first connect then it settles down, when i arm it it locks in straight away. Always has since 2.1 when i joined up. Never had the yaw issue. Maybe its the electric meter below the desk. I dunno it seems like a different issue. I've not tried 2.4.1 yet, so cant really comment on that.

So Paul, so just to clarify a bit, you're saying that your compass direction is always off by 50 degrees or that it's always frozen at a certain heading.


If the issue is that it's always off by 50 degrees...can I ask where are you entering the declination?  Not sure if you've heard but you should enter it through the hardware screen of the APMissionPlanner (or the CLI) because it accepts degrees.  If you enter it directly on the configuration tab of the APMissionPlanner then the you need to enter it in radians (when you use the configuration screen you're directly accessing the variables..internally APM uses radians so that's why we store it that way).


If you're always getting the same direction coming out of the compass when testing it through the CLI then it means that either the compass is broken internally or that you've got some piece of metal close to it that's really messing up it's readings.  Is it possible to test the compass heading again after first separating the compass from your APM or after pulling the the whole APM from the quad?

During this test if the compass values are still bogus then I suspect you need a new one (sorry!).  On the other hand if they're good then you know it's some piece of metal on the frame that's throwing things off so you can find + remove it!

Oops, I posted some responses to the various compass issues on the previous page of this thread.

The compass is a sensitive instrument and I think that many or most of the problems reported are known issues and not related with this latest release.

Still, in Marco's log we have seen the 90-degree-yaw bug that shows itself once every month or two but has so far evaded capture.  This little yaw issues has been there for a very long time..maybe we will get lucky and capture it this time.

Just APM1 atm, but it's in prep for my v2 - are there any in the UK yet i wonder?

I'm not using tubes like above, although that's a nice idea, but grommets, they are 12mm OD, then 1/3 of the way down they have a 2mm deep by 0.5 mm wide channel cut out, the bottom of the trench of which has an 8mm OD.

I just opened up the holes on my stock ardu plate to 8mm, popped them in with a bit of silicon grease and some shiny new washers also greased up and i think i could sit it on the washing machine with little protest...

Good point on the radians vs declination!

Should the params that are in the right hand configuration or setup windows therefore be removed from the left hand pane to remove confusion, especially if there is a conversion factor involved?

Your earlier post was informative, this one even better, thanks :)

Hi Everyone,

Had a great time with the APM2 maiden flight and a custom camera gimbal used. There are some vibration issues that will be worked out in the future. For now here is how it flew in the park.  Great job developers :-)

Hi Everyone,

I currently use APM2 and have the 2.4.1 firmware. On bootup I just get a solid blue color on the status led. I will need to restart the apm using the button for it to function properly. see picture. What could be wrong with it? any tips on how to debug? I use the y6 firmware and uploaded it directly using the Mission Planner. works fine if i have the usb connected.

I use those ear phone bud grommet spares that come with bud earphone and they work really well to

Hi Randy.

I enter the declination from the ap mission planner> configeration > setup> hardware, the compass is working from what i can see but my dec is 1.9 east, with my quad pointing north it reads 310 degrees on the mission planner home screen, so to try somethiing i entered 1.45 and i still get a 50 degree offset.

with virsion 2.3.0 it all worked great there have been no hardware changes only software,

when i power up and have the 50 degree offset and then rotate the quad the direction changes like i would expect, so seems fine, also in the CLI > tests > compass i get a load of numbers that change with the direction of the quad,


any other ideas?



Here a video of a test flight done yesterday with the v2.4.1 with the latest fix from Jason about the STAB_D limitation after my latest crash report. I have done more than 10 flights without any problem now...

Thanks to Jason for the patch...

Regards, Jean-Louis

Hey Randy...thanks your replies

The "not healthy" issue was something unique to on the 2.4.1 GIT loads that I've done...I haven't seen it on the MP version or seen it again since i reloaded again from GIT. I can confirm there seems to be a 50-90 degrees offset issue, however my tests indicate that once you give it a bit of kinda goes away on it's least as observed by looking at the yaw behavior. Not sure if this will affect loiter or not...haven't done any outdoor tests yet.

Anyhow...this code is a pleasure to fly and I look forward to doing some outdoors tests  with the GPS!!!


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