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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x mode is all I run on my quads.  No problem in stabilize mode.  

Thanks for the reply.

I've calibrated the ESC's, confirmed that the motors are sequenced correctly, the APM is mounted correctly, Mission Planner tells me the board is functioning correctly.

A bit stumped here.

Oh well, tomorrow is another day.

Gustav - I couldn't do GIT, but its really easy, i was over thinking it.

Just follow the instructions in the wiki to install GIT and download the whole repository to a local folder on you machine as instructed.

Then quite simply copy the arducopter and libraries folders out to your arduino sketch folder, compile and upload as normal with arduino 1.0 relax patch.

As you are not going to be uploading anything in GIT you can forget about the rest of it.

It's well worth it, see my report and vid to follow within the hour ;)

Baro accurate to 1-2m APM1, much better on APM2

Sonar accurate to about 5cm if its tuned right (up to about 3m) 

Also with sonar you can 'terrain follow' - invaluable for low RTL over un-even terrain - and it looks amazing ;)

Have you cleared your eeproms?

Worth a shot.

More latest GIT (0d4ce7129b0f - March15th) (2.5.0) testing on my APM1, DJI flamewheel 450, stock 850 ardu gear, 10*4.5 really crappy bendy props – my only niggle with this set up. Other than that prepare for a glowing report!

First thing to mention is that I decided to push all parameters as far as I could go to see where my tuning limits lay.

I noticed something fantastic immediately. I was able to vary most of my tuning parameters greatly (more than ever before ) whilst still maintaining a flyable machine. Everything just did what I expected it to, no drift, no surprises, just different flight ‘feel’ for different settings.

In stab mode, more rate_p gave a faster responding super stable craft, more stab_P made it even more solid. I could add in rate_i and stab_i and the copter would hold better against the wind. (playing with rate_I and stab_I at high levels a bit today I could get the quad to almost loiter in stab mode in 8mph winds – at times it wasn’t getting blown away, it just kept leaning back into the wind!!!)

I could also for the first time add in rate_d and stab_d together, and achieve ‘ninja settings’ (previously only possible with stab_d at zero and loads of rate_D), but now with a handful of stab_d too to handle the bigger wobbles in transitions.

So when I dialled all settings right up it flew rock solid. But then I could go the other way and reduce the settings – remove all rate_I and stab_I and rate_D and stab_d (yes put them all to zero) and the bird still flew well, just much softer.

I didn’t really have time to do any proper tuning as I was just so excited by the increased range of settings at my disposal I was stabbing around all over the place with all sorts of crazy variations. I am planning a full morning of more scientific testing tomorrow, results to follow.

But anyway, the best news so far for me has to be LOITER mode!!!

If I want a soft stay-in-one-place loiter in low winds (like the video below), I back off on my settings a bit ( although in the vid I'm running rate_D at 0.08 which is fairly ninja ;)), if I m in gusty wind like at the field and want ‘skylab’ style loiter, I dial in more rate_D, more rate_P and the whole process becomes more ‘determined’ for want of a better description, but nowhere near as affected by overshoots and circling as before.

I should have had much better videos from the field, but discovered I’d taken a full SD card with me and no USB lead to empty it on to the laptop. So I just had to have another little fly when I got home in the ‘garden’ to ensure I had something for your viewing pleasure ;)

It’s a shame though cause at the field, for the first time, I grabbed it by one leg and threw it away, high in the air with the TX on the ground and watched it sort itself out and come home to Daddy! AWESOME!

Anyway, attached are the params that I used for this video, using baro only, they aren’t tuned and aren’t the best I’d had that day, but well, just watch....

Testing Pre-release Arducopter 2.5 on APM 1 Quad. from Kamakaze UK on Vimeo.

Can I have a prize for best loiter yet please? ;)

So, for me, it looks like it’s tuning guide and optical flow time :D

Oh and a bit of info for those using sonar and/or baro. I’ve found that the throttle and altitude params have to be very different depending on whether or not I’m using sonar. Using baro-only the throttle rate_p and altitude hold _P need to be about half what they are compared to when I’m using sonar.

I’ll post my comprehensive settings and explanations after some more vigourous testing.

So, in summary, I’m really very happy indeed, it seems my quad is a mild tune away from exactly what I’m looking for:

A quad with more functionality and precision that any other out there, for a few hundred quid.

Time to order some more APM’s I think :D


Meh ;)


I am having the same problem with my y6.  My 400g quad is flying the best it ever has.

My y6 is behaving exactly as you described.  I cannot even takeoff because the copter wants to spin in circles.  If I load 2.0.50 back to my y6 it flys great. I am trying to sort it out now.

Guess its flamewheel report day :) Finally two great uneventful but fun flights today. APM 2 X-config DJI Flamewheel F450. Running 8 inch blades 3S 5000mAh battery. It just seem to play better in these east Texas winds with a little more weight and smaller blades on it. I am using GIT 2.5. Had some serious drift in 2.4.1 which is gone and adding a touch of solder on the bullet connectors helped with a random flip I was getting. It just feels more responsive no twitch/lag on motor start up. Needs tuning but I had almost given up hope I could ever get this to respond properly. Need to tweak for minor yaw and hovering but with winds going every which way I am darn happy. No attempt at loiter today I need to go to one of the farm fields as last time I got a pretty steady 20 x 20 area for a few minutes but then it just decided to take off (2.4.1) Better safe than sorry.

Ok, 2.5 has just been released so please join us on the new thread.  It took a little longer than expected as we hit some last minute questions over alt hold and loiter quality.  We believe that's been resolved and certainly the code has taken a step forward with this new release.

Ready and loaded in the morning quad large field test apm 1, 10x4.5, lv EZ4, frame and engine 650v2 XAircraft, 10amp esc, 1350 kg, 900xbee, bat 2650,
thank you all.

very cool Dave. now test your skill and fly upside down and cut the grass mate :P

Do you have your motors tilted on the Y6??

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