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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Hi folks,

i found the solution for my problem.

As Rui mentioned , i didn´t have enough power.

What i did: connect four esc´s powercable to APM.

Works fine


Do NOT connect multiple ESCs together. Use a dedicated BEC with adequate power...

Hello to All,

Here a video of a full test flight (>5 min) of the firmware ArduCopter v2.4.1xp2 with the new DCM fix with the Quadcopter F450 Flame Wheel. The purpose of this long test flight is to check if there is a drift of the roll/pitch neutral and if the GPS position is still locked after a 10 minutes of a full autonomous flight in LOITER mode.

Wind 8 Km/h, gusting 11 Km/h.

The GPS position hold (LOITER mode) is accurate and there is NO DRIFT while the time passing. This has been tested on 10 minutes flights.

Regards, Jean-Louis

Thumbs up at the end of the video is very convincing... nice flight Jean-Louis!
the beginning the fix of satellites was not perfect, it moved a little, but when he got well loiter is really stable!

Nice, but WHEN do we get a turn?


Can your upload your zip? I want test it.

Guys, please understand, that the Dev Team is still working through this.  I do not think this is the final solution, but just an interim attempt, and even Tridge (who came up with the idea) is not sure this is the best solution.  So I don't think they'll will be pushing anything out soon.

This is kind of a big problem to tackle.

But, if you are that keen, you can always just get the code from GIT.

Tridge has pushed on GIT its patch, think he considered pretty solid.

Fred, you shouldn't do that either. You may use 1 bec to power the board, and 1 bec for each servo, but don't use all the BECs from the ESCs to power the board or you will have brown outs the same and bad behaviour. That could only be achieved using shotkys diodes if I'm not wrong (not an electronic expert). I had my powered with all the ESCs power at the beginning and I had lot's of problems without knowing that, because I thought : well, they are in parallel that's ok. But it's not that easy since they are comming from different power sources (each BEC is an individual power source).

not rushing the team, asking when it is going to be ready?

Thanks Marco, will try to get the git version again

LOL, yes. as in emphasis on 'when', defensive aren't we? OK, I'll stop bugging the to rather try sort out my git troubles

Is there a guide on how to use GIT?  I "think" I have it working right, but definitely am not seeing the results JLN is.  Yes, I know it's very alpha, and I am liable to destroy my  quad, but hey, it isn't DIY for nothing!

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