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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This is what I found and the cost is about 3k all up for the UAV AP. although I'm not sure the difference from way point one and the latest way point 5. Probably software?   I assume with this you would get the full operating firmware and software? I do a bit more research and think Ill give this a go and see how compares

does this version of MP still require Net framework 3.5? One a new laptop I'm having trouble installing UARTS and the ports aren't showing up in MP

Don't use mumetal, it's worse than nothing! With the mumetal under APM I get almost plain mag heading:

I recalibrated the compass after putting the mumetal sheet. I really think the best approach is the used by dji.

Marc, that's great info.  Please post this in the 2.6 thread where the discussion is continuing.

Oh bummer, I might cancel my samples...,although have you tried it above the APM? I'm wondering if the apm is closest to the ground, with a sheet over it then all the power wires above it might improve.

Dave, no I haven't tried it above APM because all non wanted magnetic sources are below. First I tried with a can sheet and it didn't work (it was only big enough to cover the APM, I suppose it was from steel).

Any solution for this?

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