ArduCopter 2.7.1 Released

ArduCopter 2.7.1 will become available on Mission Planner and in the downloads area shortly. This release contains a few important bug fixes as well as the first implementation of the MPU6000 sensor-fusion code. 

Detailed changes are in the commit log. Here's a summary:


- Preliminary support for MPU6000 on board sensor-fusion (DMP)

- AP_Limits: Experimental "bounce" mode, for smaller spaces (LIM_RECMODE)


- Bug fix for yaw error buildup on takeoff

- Fix in Auto mode for failsafe handling

- Fixes to 3-axis camera gimbal code

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


  • Can someone shed some light please.

    Where can i find the #defines to change to 0.9 MAV ?

    My ODS units shipped with 0.9 and I dont have a AVR programmer... annoying


  • ArduCopter 2.7.2 releaset

    available on Mission Planner and in the downloads area.

    The official 2.7.2 release of ArduCopter  Functional Improvements: 
    -fast waypoints if the turn angle between two waypoint the copter is less than 60 degrees it does not slow down (Jason) -navigation improvements and logging including switching to filtered location for distance calculations (Jason) -flip improvements - more aggressive and flexible flip code based on attitude instead of timing (Jason) -improved camera control - you can now control any axis (roll, tilt, pan) with any rc channel. it probably makes most sense that you will use 6 but others are possible. (Amilcar) -flybar acro mode for TradHeli (Robert) -"fast gains" - allows strong correction of attitude using accelerometers while the quad is stationary on the ground but relies more on gyros while flying. (Tridge, Jason) -baro filtering improvements (Tridge) Bug Fixes: -dmp timing fix - the MPU6000's dmp unit was inadvertantly turned on and caused timing delays in the main loop (Randy) -xbee bricking issue (Craig / Tridge) -dataflash fixes (Jason) -engine ticking - was combination of roll/pitch rate D term being too high and the dmp timing fix above (Randy, Emile) -faster compass heading on start-up - resolves issue with simple mode getting incorrect heading if you took off very soon after start-up (Tridge) Code Cleanup: -increased maximum number parameters (Tridge) -formatting changes to code (Pat) -replaced "int" with "int16_t" everywhere (Randy)


  • Not finding GeoFence GUI.  Running Mission Planner 1.2.10 and 2.7.1 for the life of me I cannot find any GeoFence options anywhere in the GUI.  What am I missing?

  • Try the following: power the APM2 via USB, point it to N (0), connect the Mission Planer Flight Data and see what happens.  The display starts with 150  (almost opposite direction) and slowly drifts to smaller values.

    Wait a few seconds until it shows about 130 and then press disconnect, and connect again.

    The display starts again with 150  and slowly drifts to smaller values.

    thats odd!!

    Then connect to [Terminal Test Compass] und see the reading is still ok N (0) not drifting.

  • Compass behaves odd.


    APM2.0;  ArduCopter 2.7.1 traditional Heli; Mission Planer 1.2.10


    APM is powered via the USB all the time.


    I made 2 lines on the table, one  N –- S  and one   E --- W.

    I’ll places the Heli along these lines to check the compass readouts.

    The first ones are with the Mission Planer [Terminal Test Compass]

    The second are in the Flight Data Tab of the Mission Planer.


    I’m sure there is no problem with the hardware (sensors) because the readings in the  

    [Terminal Test Compass] are correct.


    I could easy find my way home with the [Terminal Test Compass] readouts,

    but would get lost with the Flight Data Tab readouts of the Mission Planer.


    Could someone help me please.

  • If some one is using 2.7.1 on APM1 (1280) which features you has switched off? I am trying to fit 2.7.1 to my APM1 but still  no luck....


  • I see three versions of 2.7.2 on the downloads section.  Where can I go again to see exactly what which version is for? Thnx,

  • Developer

    ArduCopter V2.7.2, the final release is coming, stay tuned:

    This is my flight n.150 during test with 2.7.2 beta/alpha/gamma/epsilon, etc...
    No issue, it's a pleasure, also in Acro mode, small problems have been reported and are being being worked on.
    I think that most of the big problems that some users are having are caused by defective components, setup wrong or incorrect tuning.
    If the problems were within the code would live during the innumerable tests that we do.
    There is always something to fix or improve, but I'd say we're at a good point.

    Bests, Marco

  • hey guys I need some help with SITL..... My quadcopter is not taking off... when i run the simulation the alt is remaining 0 and the it is yawing a lot...... other than yawing it is not doing anything.... can someone help urgent!!

  • This is best version so far, so big thx to Jason and other involved!!

     RTL and Loiter is much more accurate than was in 2.6, specially when there's wind and gust. Today i did few RTL's from different compass points and all went almost perfectly. Loiter seems to be basically same as accuracy of gps. In loiter I have some wobbles or "twitchy" feeling, same as some others have reported. I checked logs and it looks that NavLat gets high quickly when gps position changes 1-2m fast and this usually trigger short 4-6 degree roll or tilt correction "burst". Mostly this seems to be in Latitude direction, which is somehow weird..

    One thing i noticed is that gps track in logs are no so smooth anymore. Also bigger error or roughness always seems to be in latitude direction same as loiter wobble. Is lat and long in log directly from MTK gps nmea or is it processed somehow with gps algoritm and lag estimation??

    Other thing is how i get camera gimbal outputs to work? I have apm 1 and tried output 5&6 without succeed, was ok in 2.6...

    Tomorrow some Auto with waypoints.....:)

    Regards Jani

This reply was deleted.