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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Will have a look at the code later!
Yes think it would be a good idea to add it as a param, even adjustable in mp as a default or in planner itself!

Before that it needs some tweaking! Have run circle command several times since v2.6 they always start in what looks like a random, undecided way, gradually get better, then the last 1/4 turn looks under reasonably good control. You can see it in that video. (Consecutive turns are a repeat performance of the first). It happens even when there is no wind and at any height. Do you think there is something in the code that could be responsible for this behavior? Only thing at the back of my mind is that I seem to remember that radians give increasingly larger errors at small angles, or is that the other way round! But this might not even be a factor on your code, Just thinking aloud...



I don't think a video source in MP is viable, I've already tried hard enough.

Not saying you can't get it in, but it will be quite useless for the prime purpose of behaving like a real-time Head-up-display. reasons are, latency (up to 1 sec) ip cams don't fare any better, and no by-pass to screen as used in DVR's

In fact bypass wouldn't work in this case either, don't see how mp could cope with that! large drawback of pc's, then for recording, USB2 is too slow, USB3 is not fully enabled yet, Disk drives too slow, need sshd.

Can't see this improving in the next year or so...


Hi Chris,

Since upgrading The quad does not have enough power to hover and I have tried re-calibrating the esc's both automatically and manually but still no joy.

I am going to try a complete re-install abd see if that helps.


Excellent flight a pleasure to fly in my octaquad. apm 1.4 

Turnigy Plush 10amp esc, XAircraft engines, propellers 10x4.5, 1,650 kilograms, lipo 5000, xbee900, v8 xaircaft frame,sonar lv ez4, gps mediatek, floating to less than 1/4 of throttle. I keep waiting for my motherboard 2.5, almost a month.

Date: Thu, 9 Aug 2012 22:03:36 -0400 From:

To: robertoborobia@xxx, my Brother
Subject: Receipt from 3D ROBOTICS INC
Reference Number: 28952-4ZT

thanks guys
flight parameters


No problem with winxp and win7, I run with three different machines and all good, xp sp3 profecional, win 7 basic. super fast connections, telemetry excellent.

Im busy reloading my laptop now, will give feedback once I'm back up and running again...

I just wanted to drop a note saying that the new 2.7.3 firmware flys wonderfully!

I'm flying a DJI 450 stock (frame, motors, esc, props) and was using the default PIDs but I changed Stabalise P to 1.45. Stabalise mode is super duper steady, in fact it was so rock steady that I got over confident and crashed my quad twice.

Alt hold and loiter with the stock PIDs didn't cut it for me and I'm still in the process of adjusting them back to what I used to have them set at back with 2.7.1.

Great work guys!

I did a fair amount of flying with the 2.7.3 over the weekend.  I seem to have a problem with APM1 not booting correctly, the DCM seems to run very slowly.  You can see it in the HUD if you move the copter around, the response is very delayed.  It results in a lazy tip-over when you try to take off.  Be on the lookout for this.  It seems to be fairly random.  Just reboot, and test until it boots correctly.  Strange.

I did some work on the loiter params, and ended up with: Loiter Rate P to 5.0, I to 0.2, and D to 0.5. It holds well in a good breeze now. Now sure about calm air, it might be too aggressive, needs more testing.

Thank you for your warning.

Is there any way you can tell the board didn't boot up properlly without telemetry ?

Hello R_Lefebvre,I used APM2 2.7.1 firmware, DMP is enabled in  CONFIG.PDE  the APM2 can start OK.But APM2 will crash starting  when I enabled  2.7.3  “# define DMP_ENABLED ENABLED” in CONFIG.pde , what caused that ?I want to  enabled DMP in the CONFIG.PDE by  arduino,  where need to be modify the code in order to truly enable this feature?

Thanks for that info Norman and the parameter set. My Octo seems to have a slightly odd fault that I think is to do with it being overpowered for its weight. The throttle seems a bit random in that it suddenly decides to climb and then stops. Also whenever I yaw either way it climbs. It feels as though the throttle is just on the edge of a limit and when it exceeds that limit I get a sudden throttle increase. 

My setup is similar to yours 10" props but KDA20-22L motors and an early oilpan/APM1. 

regards Peter

ps my Quad with a similar setup but APM 2 is very good and flies waypoints better than any previous versions and with stock settings but on my own frame. 

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