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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ArduCopter 2.8.0 Final is in the air... :-)
A little preview... stay tuned!
Warning: multirotor is not a toy, do not try to emulate me!

Bests, Marco

Thank you Dave.

I changed the X8 in to an Octo. Using 880kV motors with 11" APC props. Total weight is 150gr more than the X8 making it 3200grms with FPV equipment and 2 4s 5000mAh batteries. I expect flight time to be 11 minutes with HK batteries and 16 minutes with Venom batteries (I noticed a significant difference between the battery performance of the two brands. The Venom's are also approx 100gr lighter each).


Today I will do maintenance on the motors (two of them need new bearings), replace worn props and balance them all. Noticed barometer noise of 2 feet with ONLY the APM connected via USB (powered by a battery powered (not plugged in) laptop and USB cable with ferrite ring. Complete shielding the barometer (metal cooking pan over the whole thing make no difference. Need to look at that too, but have no idea if it can be solved.


Could you be so kind to supply the setup pid, altitud hold, etc, good test

a few days, try to do a similar test but was not very stable octaquad. the balance was down a little bit with the weight of the water bottles.


Hello I try to download the new 2.74 Epsilon but when I try to compile I just get the following text.

no matching function for call to ´DataFlash_APM2::DataFlash_APM2(AP_Semaphore*)´

Anyone that can tell me what I'm doing wrong.



Yeah, these were plastic no-name props.

They did fine for a long time, it wasn't until I was fooling around that this happened.  And I confirmed, one broke in flight rather than having lost a prop nut or something.  I found the half blade that broke, in the grass underneath where I heard the initial snap.  The quad was moving at a good clip and spiralled about 200 feet before hitting which is where all the other bits were.

I was actually flying over my neighborhood, which...  I shouldn't fly like that in that area.  There weren't any people outside, but could have hit a neighbour's car or something.

Problem is, it's dark here by about 6PM now, so I'm night flying.  I don't really feel like driving to the flying field and standing around in the dark...  I'll have to see if maybe I can go to the local soccer field, at least it will have some light maybe.

Man, now you guys are making me nervous about my overlapping Octo which is nearing completion...  I have about 2" of overlap on the blades, and about 1" of vertical seperation.


what is it on top of quaid? barometer tube or antenna?

I am seriously impressed with the stability of the quad in the video.  What did the bottles weigh?

i try to compile epsilon with arduino 1 relax  for apm2/quaid/2560 - ОК

only copy SPI library from previous version (my arduino software was without this library)


May I ask why you chose to create an overlap? Shorter arms = less weight?  I changed from X8 to Octo X because of prop wash and its effect on efficiency. My newly designed Octo X comes in only 5% heaver, yet should provide 15% more efficiency. Lets hope my theory is correct....


Also because the X8 arms were so short, I suspected a lot of RF noise came from the 8 ESC's. I have now moved the ESC's to about 3/4 on the arms (from center, so close to the motors).



Exellente démo Marco !

encore bravo  à l'équipe ,vivement la sortie officielle!


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