ArduCopter 2.6 released!

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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  • Just had a crash on my quad. It was my buddy who fly it, we are tuning altitude hold. At the end of the flight the copter are uncontrolled.

    I load 2.6 from mission planner and had few flight alright before the crash. Not a major damage only broken props. The log file from dataflash attached, unfortunatelly I haven't enable motor log.

    From what I can see from the log the radio seems ok, around line 4500 the trottle in 0 but the altitude from baro still fluktuatif. My buddy told me that he put the throtle down but the copter still flying for about 30-40cm. It was scary because it flew to carpark, luckyly it not hit any car.

    Anyway, hopefully someone can shed some light on whats going on. Aside from this issue, 2.6 is really stable and I like it so much.

    2012-06-16 18-12 10.log
  • Been away for a while and just had my first flight with 2.6 on an old 1280. Planner 1.1.92

    Great work team stabilize was impressive.

    Noticed a couple of things though.

    1. Everything up to 2.5.5, I could make fit by defining MTK16. This is the first time I have had to disable CLI, so I couldn't find a way to do an erase and reset in the planner. Had to reload 2.5.5, erase, then load 2.6 and do setup. Did I miss something obvious somewhere?

    2. Now here is the weird one. With the Define GPS MTK16 line in place, the planner would only report 3D lock over USB. Over xbee it just said NO GPS. Removing the MTK16 line fixed it all up. I would like to still use the MTK16 in the Config.h for when the code starts to expand again in the future. Like a lot of people, I'm on a tight budget and would like to milk the 1280 as long as possible.

  • Is the Optical Flow Sensor already supported in 2.6?

  • I see there is still a bit of bounce on auto landing. This happened in 2.5 to me  and it took about 4 to 5 bounces along the ground before it would stop. Because of the bouncing and some wind it flipped over a few times and broke numerous props. Has this been reduced in 2.6? Is there something that can be tweaked to lessen this affect?

  • Just got a fright.   Loaded 2.6 from mission planner into APM2  did  a cli  erase and reset,  set +  and calibrated radio  set modes and thought I saved them, tweeked a couple of pids    and went out to  park to test loiter and its not so good but stabilize is  fine . Back to the house and check  and modes are all stabilize  so do a cli reset to  default  the pids and  set up modes , radio,   + and level again. 

     Back to the park and Quad is lifting off  in stabilize and hovering then flipping or flying off. 

    Reloaded  2.6 from mission planner , cli erase ( no reset )  set up again and still acting bad.

    Backed down to 2.55 and setup and its ok again, after  2.55 reload when entering setup it warned radio was not set up.


  • Hi all, I have a small problem with the v2.6
    I have a coaxial octo, 850kW, 10x4.5, 1650 kilograms XAircraft frame.
    I never had happened, with no code to maintain Hight altitude, the quad is directed toward up front when I get the quad so stable returns to its position.
    it's like 10 and 11 engines accelerate more.
    has explain me is not even the acceleration of the engines.
    Otherwise it is perfect.

  • Tried v2.6 final with slightly modified PIDs (rate_p = 0.165) on my heavy hexa (4kg, 12x3.8SF, 4s, APM 2)

    Wow, even in the breezy afternoon winds rolling off the coast, this thing is rock solid.  Slight bit of drift that could be  due to the wind or not a perfect level, but it's definitely the most solid feeling I have ever felt it.  I don't have much time on this hexa, but it was still all over the place with v2.5.5.

    I get a bit of wobble in the yaw axis, and I may turn down my dependency on my mag.

    Still very frustrated with my GPS.  9 sats today for well over 30 mins and no lock.  There is something up with my board.  Now, I am also not reading my dataflash card.  So, no logs.  Maybe the APM2 is just getting old (one of the originals)...

  • On my Y6 I found 2.5 to be very stable . I have upgraded to 2.6 today, the throttle range is better, the Y6 is alot more responsive to any radio commands, but it drifts more than when I had 2.5 installed. It also yaws on take off alot more.

     I cannot calibrate the compass in MP because every time I move the Y6 with the mini USB connected, I loose connection. I have read other APM2 users have this problem with the APM2 usb hub also.It is very sensitive to movement.

    Centro Oculistico G. Perone, Specialisti in Oculistica e Chirurgia Oculare
    Nel Centro Oculistico di Diagnosi, Chirurgia e Microchirurgia Laser G. Perone, operano medici specialisti in oculistica con specifiche competenze in…
  • first chance to fly 2.6 this evening, and only briefly at that.  30 kmh winds gusting to 40 kmh and STAB was absolutely great, i tuned RATE P to 0.130 and STAB P to 4.3 - really very smooth and predictable on a 2Kg hexa (880kv and APC 12x3.8).

    loiter wasnt particularly great, but then the conditions were difficult, im sure i can improve it tomorrow.  

    the throttle range is _significantly_ wider, on first takeoff i almost left the ground while i was just spinning up the props to an "idle".  another effect i noticed is that the burst of throttle to stop a descent seems to need slightly more stick movement.

    yaw was responsive but i had a little bit of rebound after turning, again im sure it can be improved as i was just starting to get some results in 2.5.5, today i flew with RATE YAW P 0.140 and STAB YAW 7.

    lots of landings in blustery winds and i havent even broken a prop :D, really nice to fly, thanks all.


  • I tested the jdrones Arducopter Hexa V2.5.5, stock pids with Rate Roll P = 0.1, Stabilize control P = 3.5, I = 0.01, Imax = 2.000, Trim throttle = 450.
    Flight: Stabilize (Throttle only, No pitch/roll/yaw)
    Results: Smooth flight but the hexa landed at a distance of around 70 feet from take off location

    Can someone explain the reason why the hex travels when i am only applying the throttle and no pitch/yaw/roll ??

    Should i now upload V2.6 or its better off to stick with V2.5.5 and improve on it?

This reply was deleted.


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