Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!



  1. The first ArduCopter code release optimized for the APM 2.  Leans and drift should be much reduced or even eliminated for most users.  This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one.
  2. Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
  3. On start-up, the yaw heading is updated with first successful mag read (so you should no longer see the slow rotation from north to your actual heading).
  4. Increased output rate to ESCs to 490hz.  This update rate is also user selectable using the new RC_SPEED parameter.
  5. hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
  6. improved baro filtering
  7. fix to dataflash logging of Mag heading
  8. addition of H1 swash plate type and bug fix for proactive yaw compensation for collective pitch changes for TradHelis.



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.

While some testers have reported very good flights with the default PIDs, some have reported that this release is a little "sharper" due to the DCM improvements and have found they needed to:

     reduce stabilize P by 10% (i.e. 4.5 -> 4.2)

     reduce stabilize D by 30% (i.e. 0.15 -> 0.10)

     increase rate D from 0 to 0.001

Tuning loiter can be tricky.  Refer to the discussions which will appear below for more community feedback on what parameters work best.


Please post your feedback in this discussion.  For enhancement requests  and bug report, please add them to the arducopter issues list.  When possible please include logs (tlog and/or dataflash) and tell us whether you're using APM1 or APM2 and what version of the software you're using (presumably 2.5 but tell us anyway!).


Thanks for this release go to the developers (both in the core team but also those who have provided bug fixes through the issues list) and also the community members who participated in the previous release thread and provided some great detailed information in the form of issue reports and logs which allowed us to nail some bugs!


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i have seen it and i did do a LIVE data calibration just before i flew it today. it didnt seem to work well though. ill give it another shot. thanks.


I would like to compile the latest version of the ArduCopter by myself using Linux/Ubuntu, but it doesn't work (have an out of range error while compiling).

Actually it works well using the Mission Planner to load the pre-compiled code, but I would like to enable the piezo buzzer support.

Any idea ? Thanks - and congratulation for the ArduPilot !


You can enter your declination the same way you always have.

excellent position hold in light breeze!

Todd: Nice one! Is that APM 1 or 2? Any special PID settings?

An evocative image of my little xquad that I use for testing, during a loiter passed an airliner, and there was also the Moon... :-)
It's a frame taken from one of my fullhd videos, excellent as wallpaper for your desktop!

Care to post your param file and setup?  That is a great loiter!

This is a photo of my setup and parameters.  The entire frame is my own design. Molded and machined components.  Body looks even cooler, update that later;) APM1/2560, 650kV motors, APC 12X3.7SF props, 4 cell 2650-5000mah packs,  and modular ESC stack.  


That's a nice looking quad! How much does it weigh?

what you see without the gopro is .98kg. 

Thanks for posting.  Very nice looking quad and lightweight to boot! What motors are those?  They look efficient :)

Very nice :)

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