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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I don't think, you compass is ok?

Yeah it's on, declination is set that I check on MP...something very strange...I connect with MP on the HUD page...compass starts on N then I after 10-20 seconds it starts to drift in the exact same direction I saw physically until it reaches 190 deg S... very strange, any idea what's going on?

Try to disable and enable again the compass... make a full turn with your hands to your quads and tell me if you still do.
Here is ok (latest GIT).

Excelente, a qualidade de imagem é muito boa, apesar de poder ali amortecer um pouco as vibrações que estão a passar para a camara :) parabéns.

Just tried that...compass off, compass on, declination, declination 1.45


still when I always starts at north and slowly creeps to south...compass stationary on my table and nothing metal or magnetic around it


i'll test with GIT code but it's 4am here :) so tomorrow...will let you know

Nite Ihab!

Thanks Rui, though it's honestly a pleasure to be working with what i still find to be mind-blowing technology. Why didn't i take computer science in school... one day i will visit Jason and pick his brains ;)

Moon gel.. YES! The gyro foam i've been trying out is a moon gel equivalent... i think its silicon based - are you seeing a theme here?!

All my mounts apart from the homebrew ones are nylon, just by default, using ardu kit. I think the nylon's biggest advantage is that it breaks easily, therefore saving other more expensive components. I am yet to be convinced of its anti-vibe properties as i saw little different when i swapped from hard plastic spacers and metal screws to nylon and polycarb on the DJI frame. The big difference was when some semi-permanent silicon based doo-dah was introduced. 

Completely agree on the aluminium legs. The stock ardu frame is a joy, it eats vibrations for breakfast, i was stunned when i transferred everything to the flame wheel (esc's, motors, props all intact - EVERYTHING). My arduframe ninja rate_d (PIDT1 tuned) settings just produced horrible twitching, weird diving about, yak. Stock paras were ok (demonstrating someone knows what they are doing with none frame dependant params ;)), but now I've reduced vibrations to nearly zero I seem to have solved most of my dji probs and learned a lot about the whole set up. Hope some of it is washing off :)

@JNL, what are you using for apm mount? And do you use rate_D? I'd be fascinated to know :) 

Oh yeah, although i've had good results with velcro too, but I worry about its randomness, if it can move to absorb vibration, and its hook and loop, then the properties and security will change over time. Silicon (if it proves the way to go) will outlast us all in life, shape and anti-vib properties.

@robert, one of the mounts on the front of that catelogue looks like just the puppy, I'll investigate once all this beer has worn off ;)

*EDIT* cough... this is becoming and anti-vibration thread ;)

I may be speaking out of turn but...

While you were away and skipped a whole heap of the 2.3 thread ;) It was announced that the dev team will be sorting out any bugs in the 2.3/4 version but concentrating on the next big release.

Which really is just what we want and just what they should be doing in my opinion. You devs have my full support, if that wasn't already clear :)

This project is constantly evolving with some great minds on the case.

It's uncommercialised other than to keep the people that work on it in a position to continue and it's got the best bunch of contributors of any forum I've ever signed up to, and we are all right on the cutting edge.

What more could you ask for?

The version number only means 'the next step' and the ardu project has taken more steps than anyone already, Multicopter, Draganfly and DJI etc. are brilliant, don't get me wrong, but can you ask any of them to have a look at improving position hold in gusty winds for you, or do they at least weekly say 'hey who want's to try my new autoland', or 'new ninja tuning params available' or 'oct hexa support now sorted - 12 hours after the problem arose' or whatever! 

There will be a version 5, I'll write it myself if i have to. Its what i love (beer still doing its job then) about this whole effort.

Now there must some more posts I can hijack before the hangover kicks in...

There should be a rants and raves thread.....

Graham, a quick test for you, if you push the apm with your finger, does it move on the foam, or does the foam move the plate below it with little 'lag'.

If the board moves but the plate below does not any vibes in the plate could cause the board to 'wobble', this effect would be exacerbated with more weight (lead) involved, and much worse than a fairly constant buzz that stock params will usually more than cope with. It needs to be a tight but vibe-free system ideally.

Does the lean always happen in one direction, or does it vary randomly, or change with each type of mounting you are trying? Which frame have you got again?


Look at 3:00 on this second video - maybe my combo of rubber and silicon is the key..

Carry on :)

Thanks for the info.  I was just curious. The whole dev team works at an outstanding pace and quality!  v2.4 is flying so much better than what i was expecting from other versions.  I just heard that they were having issues with the APM2 DMP software licensing, and I was wondering if that was resolved and going to be used more effectively in 3.0 or whatever we will call it.  Pretty soon this opensource AP will fly better and have more features than most commercial APs!

On a side note, Dave: do you have a link to the silicone dampeners or material that you are using?

It moves but only if you press hard, the board is firmly mounted/will not wobble but the foam should absorb some/most vibration, it's hard thing to quantify. I have had it from very soft (foam from Pelikan camera case) to very firm (3mm double-sided tape) but the leaning is still there. The 'sudden death' lean was always the same way (not having that now) and the slow lean seems to be the same way (but not the same direction as the SD lean). yawing seems to reset the 'lean' temporarily. The graphs show a build up of error which resets as soon as the 'copter stops moving.

I still feel a software solution should be attempted, because as 1000's of these boards come "online" this is going to cause major unhappiness.

Frame is an X525 with the motor plates removed and the motors mounted directly to the arms on rubber pads.

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