Version 2.6 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!


Updates to MavLink 1.0 means you will need to use "ArdupilotMegaPlanner10.exe" to connect.  If you've updated your mission planner recently you should find this executable in the directory where the mission planner is installed.


The above video is done using a prototype 3dr ublox GPS which seems to have better accuracy than the standard mediatek.


Improvements over 2.5.5 include:
     - MavLink 1.0 support (use with ArdupilotMegaPlanner10.exe) [Tridge, Craig]

     - Stability improvements especially during level hover [Jason]

     - throttle range improvement (higher min and max) [Jason]

     - improved standard Loiter PIDs [Alan, Heino, Jason, Angel]

     - dataflash erase speed up ('+' messages removed but it only takes 6 seconds now) [Tridge]

     - Copter LEDs [Robert Lefebvre]

     - RTL loiter stage target set to home to improve final landing position [Jason]

     - flip & acro improvements [Jason]

     - circle mode target improvement for ground station [Jason]

     - Auto Approach [Adam Rivera / Marco]


Bug fixes include:

     - UBLOX driver fixes (lock should now be more reliable) [Tridge]

     - enable mavlink messages during dataflash erase which resolves issue in which new APMs fresh from the factory appeared unresponsive [Tridge]

     - proper printing of lat/lon values in dataflash logs [Randy]

     - removed duplicate GPS reads [Jason]

     - resolve flooding of telemetry link with low-battery warnings [Tridge]

     - RTL bug would land if rtl_approach_alt was more than 1 [Jason]

     - WP Radius could not be set larger than 1.3m [Jason/Randy]


PIDs are optimised for the 3DR/Jdrones quad with 850 motors and 10" props.  If you're using more powerful motors/props and are seeing bad flight behaviour in stabilize, start by turning down Rate Roll P in 25% steps.

This time we spent some time optimising the loiter PIDs.  Tuning loiter can be tricky so please refer to the discussions which will appear below for more community feedback on what parameters work best.
All feedback welcome below.  Enhancement requests and bug reports can be put into 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 2.6 but tell us anyway!).


Happy flying!

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Compass noise solution (dji style):

Here the results:

  • With compass attached to APM1:
  • With compass attached to dji mount:

Noise is gone! (But I still have yaw problems, it doesn't hold its position, I suppose I need more PID adjusting).

I've used shielded cable (shield connected to GND only on APM1 end).

Awesome testing man!

And just so it's not missed, here is Marc's results from testing MuMetal:

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.

i don't get the battery reading setup on this software. It suggests to subtract 0.3v from the power supply. I have a 5v switching regulator to power the APM1 board and it measures 5v output so Ive set field 1 to 4.7 as advised.  I measured the battery just before connecting it and it reads 11.87v on the multimeter, yet on the main screen on MP it shows a reading of 10.63v . I hovered around in my lounge room until the battery was reading 9.61v. Now when I plugged this battery into my charger its reading 11.23v and no where near flat.  I'm using the system that connects to the batteries balancing plug that's wired into the APM1. Do I really need to still subtract eh 0.3v using this? Why am I not getting a more accurate reading?  

Impressive analisys Marc!  really worth trying...

In field 2 "Measured battery voltage" is this to be set at the batteries full charge voltage? My 3S lipo measures 14.65v on full charge.  Does this have to be adjusted as the battery ages?

Noticing some intermittent mag spikes in logs. Other than that readings seem to be fine.  All wires twisted.  Using non-ferrous metal screws on frame.  Any thoughts?

That is an impressively large piece of MuMetal.

I was afraid that it might do Too good a job of suppressing magnetic fields, in this case the Earths magnetic field.

It looks like for the compass, simple distance from any competing electromagnetic radiation can be best although not something you can readily do on the APM2. (Need to Isolate entire board)

My aluminum tape shield did reduce noise. From what I can see of Marc's graph the noise appears to be an AC component, so it makes sense that an aluminum shield might help with that.

I got to do some flying tonight with 2.6 on my Hexcopter.  It was flying fine and yaw control worked fine, but after a 5 minute flight, all of my clockwise motors were very hot to the touch.  The counter-clockwise motors were nice and cool.    I didn't do any fancy flying, stayed in stableized mode and, except for a few passes, mostly just hovered.  I don't know what else it could be other than an uneven distribution of motor power to fly.


Any thoughts?  Code issue?


Thank you.

well I tried this Rui and have changed from 12" to  10" props on my smaller quad and its so much easier to fly and more stable. also the bit of wobble and bouncing are gone which I suspect was from the prob wash affecting the baro. The 12" prop were nearly touching the cover CD case that how close they were.

Question. If I activate an AP mission in MP to the APM and say one of the way points is outside the range of both the Radio TX and Telemetry, will it still maintain the mission until completion?  I take it the mission is written to the APM board so assume it can fly the mission without the TX? 


Just one motor that is tilted to the side will cause the other motors to have to fight the yaw that is created by it..  The magnetometer will stop the yaw so it will hard to notice the copter wants to yaw in one direction. The motors that turn in the direction needed to fight the yaw, created by one or more tilled motors, will get hot trying to fight that yaw and in the process lift a higher percentage of the copter weight.

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