Arducopter 2.7.2 is now in the mission planner and in the downloads area Some positive reports on testing can be found in this discusssion by John Hanson.

Note: just as the release was going out an issue was found re support for the all Camera Gimbals on the APM1s (it doesn't work) and with 3 axis gimbals on the APM2 (2-axis works ok but not 3).  If you're one of these people, please wait for 2.7.3 which will be out shortly. 


UPDATE: 2.7.3 is now in the Mission Planner


Functional Improvements over 2.7.1:

  • Fast waypoints (Jason) - if the turn angle between two waypoint the copter is less than 60 degrees it does not slow down
  • 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 too.  Unfortunately these changes required we change the set-up procedure so the mission planner gimbal set-up screen needs to be modified again.  Please refer to the AC_Camera wiki page for how to manually set-up the gimbal (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 (Randy) - the MPU6000's dmp unit was inadvertantly turned on and caused timing delays in the main loop- xbee bricking issue (Craig / Tridge)
  • Dataflash fixes (Jason)
  • Engine ticking - was a combination of roll/pitch rate D term being too high and the dmp timing fix above (Randy, Emile)
  • Faster heading correction 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)

As per usual 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.

There is still some question on whether the default Roll/Pitch Rate P (0.175) is high enough (it was 0.185 in 2.7.1) and also some people feel the Throttle Rate should be higher (currently 0.300 but some say 0.330 or even much higher would be better).

Please feel free to report issues you find in the discussion below and/or add them to the issues list.

Thanks and enjoy!

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I feel very sorry, I know it hurts. Bur one bright site, it was not the APM or code.... just a prop.

And thanks for testing, for a great 2.7.4

Eek and youch!! Thats a helluva mess of a quad- I know the feeling from learning to fly my quad. Thanks for the test flight and data gathering mission- sorry about the loss. 

I know its not much, but if it helps, I have motors and props I could ship out to donate to a rebuild and help get you flying again.  I just upgraded motors and props, so now they are extras.  Motors are NTM 28-30 750kv and props are 10-6 three blade GWS units with prop adapters.  I have several of each, some new, some used, all good. 

I think I speak for all of us when I say its great how much the developers and testers contribute to the cause- and sometimes the price is very high.  

Again, a respectful and heartfelt 'thanks and sorry' :-)

PS- I'm getting really excited about v2.7.4 from reading about all the improvements... :-D

Wow... i just crashed my octo too.  Grass not concrete.   Busted two arms and 7 props.  Here is my wonderfull video:  My UBlox got messed up too.  Would you be willing to sell me your scrap UBlox?  I may be able to make one working one from our two messed up GPS's?

Yeah, commiserations Robert, not a nice experience. What brand props were you using?

I had the same happen (twice) using some black Goodluckbuy props, both broke in flight fortunately both times over grass. Now I've been using APC SF.

some tricks to improve the positioning accuracy of the module manufacturers:
- Lift the GPS above APM
- Make a 3-4 cable turns GPS through high frequency ferrite ring
- Set the module substrate foil shield PCB ~ 60 * 60mm, connect foil to the GND of module (after the ring from apm, near gps)
-Connect vbackup of mediatek module to ionistor for fast fix

Thanks Robert, I just tested the theory. With 2.7.4 gamma, when yawing through north the octa would turns suddenly 90 degrees, usually to the left, but also to the right on occasion.

So, uploaded Delta again and the problem is GONE! I think that indeed was my issue.

So i took 2.7.4 delta for a spin on my very scary 3DR Octa-quad, in awful gusty winds. It flew like a dream. Fast thrashing in stabilise, great loiter (I left it in loiter and got the naza out to film it - (with a full SC card - bummer) but it just sat in a 2m*2m box even though the swirling winds were throwing it from one side of the box to the other.

I've had better loiters, but not in this sort of wind, the code really seems to be 'on the case' now (external Ublox and APM2.0 for info)

Anyway, throughout this thrashing about I managed to completely unhinge one of my lower motors (must use locktite....) i noticed it was struggling and twitching slightly, so i brought it home. The offending motor was literally hanging loose, just one loose screw holding it to the arm, the shaft was forming a blurry mess in the air - the motor pointing inward and shaking all over the place. And i could still easily fly it and land it for repairs.

Marvellous :)

More testing of Delta today, I'll report in.

Bummer! You are a brave man testing and thrashing over concrete! 

Has anyone tried DJI props yet, i haven't as I haven't had time to source or make some adaptors for my jdrones/turnigy motors but i have crashed many times with my mini NAZA and never broken a DJI prop, they are scratched, chipped and ugly looking but still very much in one piece.

I use this to try to isolate the GPS from electromagnetic noise.


great idea!

i like it

but ferrite ring filtering electrical noise going from apm and improve the positioning accuracytoo

Thanks for the detailed description, it is a pity that there is no in code comments

WOW is the word!  Watch your video again! the motor in-view on the left is shaking like hell, i was amazed it wasn't this one that came loose! 

I wouldn't take off if any of my motors/props were wanging around like that. Get the scotch tape out, balance your props and you will reduce vibration, improve flights enormously and be much less likely to lose hardware mid-flight.

The APM, and all other controllers (including my wookong) behave sooooo much better if everything is balanced.

Hope that helps you stay airborne a bit longer next time :)

Yeah this video really ROCKS!

I already saved the videolink as an example.....


So long


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