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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     In cases like these, it's often hard to see from the outside what happened.  Looking at the logs (either tlogs which are saved to your laptop's harddrive by the planner if you have an xbee attached, or the dataflash logs which you can download using the mission planner's terminal screen) can help. 

it took a few tries but finally worked after a multi esc sync. possibly just a glitch. there was also a timing setting on my esc's that was changed from med to high. Thank you for the help in pointing me!

Hi Rui, Im powered via a uBEC, attached is my log, my flip occurs about 72% through playback, about a minute or less prior its twitching on the pitch axis...although Im not 100% knowing what Im looking at via the log file

Thankyou in advance


Hi, Randy

In those cases, the cause may not clear. However, APM2 environment is sensitive to the voltage.

One is booting error of APM2, needs manual reset. Second is failure of BEC initialization in lower battery voltage. Do you have any experience or expectation of those observations?  

Gotta ask; Motor connections soldered or bullets?

Bullets, never had a flip issue prior

Eve with the GPS lock in on3D and If I am flying in stabilize, I assume it wont hold position unless it is locked be loiter or other mode setting correct? So if there is any wind then the wind can easily move the copter around and we have to compensate it with stick input?.


     Yes, that's right.  Stabilize mode does not use the GPS in any way to control the copter so you'll need to manually stop it from being blown away by the wind.  LOITER is the mode you want for position hold.


     Good to hear from you.

     I've never looked into issue exactly like you describe but the logs may provide some clues as to where the problem is.  For example if the logs suddenly stop then you know it's some kind of catastrophic failure (i.e. a software failure or a brown-out).    Alternatively if it's an engine or ESC failure you can see (at least from the tlogs or the dataflash MOT entries) that the APM2 was still trying to output reasonable values to the engines.


I appreciate your effort on 2.4.s as dev team. By my only stabilized mode flight,  AC_2.4.1_c98f6cd2cfa2 looks very stable on my standard quad.

Actually, APM2 gives values to the engine by Planner. Cause, APM2 does not know the initialization failure of BEC. Anyway, I will find the failure of my wiring and components of my quad, if any of hardware failure is there.

It should be promising upcoming AC 2.5:)

Hmmm... Just pulled the Master from Git and without specifying a GPS protocol it's too big for my APM1 1280. So, I go to set MTK16 explicitly and after the module gets solid LED, APM doesn't think it's locked. Also, pulling parameters wirelessly at 19200 now times out toward the end of the list... Flies sweet though... Thoughts?


My Quad and Hexa are frame X. With winds of 20 to 30 km/h, the quad is positioned immediately with a yaw of 5 ° to 10°. but after he did not evolved that is stable, if I straightened it takes these 5 ° to 10 °. For Hexa, this is very negligible and I do not need to made a correction. This second test, I tried that mode Stabilize, Alt_Hold, loiter. Purpose me it was not the frog  ;-), but it is true that the hexa moved a little up and down, but not as violently to some version of the code that were moving up to 2 meters. For Quad, it's same, slight movement of 10 to 15 cms. I've for 2 the MB1200 XL-MaxSonar-EZ0.

All motors for 2,are 880kv rctimer . the frame of the quad is the 3dr and hexa, its chassis is homemade to 70 cm motor at motor, aluminum arms and central part bakelite. For all, 12x4.5 propeller.

I hope that these tests can help, because I see a lot of people have big problems of yaw,with this version ...


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