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 assumed that restarts begin after the firmware 2.7.3 update, before change any settings

Yes I restarted after the upgrade and before changing any settings

Through a process of elimination I've narrowed this down to when RC11_FUNCTION is set.  This causes the serial connection to go haywire.  It doesn't seem to matter what number I set it to I get the same behaviour.  Strangely RC10_FUNCTION seems to be fine.

I just put 2.7.3 on my hexa.  So far I'm very impressed with this release!

I simply loaded the code on it.  I didn't alter any pid's whatsoever and the hexa is flying rock solid.  In my backyard it has very steady althold and loiter works within 3 feet. 

I look forward to enabling the gimble and testing auto flight.  Thanks!

Absolutely stunning update - Thank you devs!

Running on a two month old 3DR hexa with 880's and 11x4.7 props, this is the best it's ever flown before PID changes.

Alt hold over 25 feet looks to be within 2 feet or so. Below 15 feet looks to be even tighter.

Loiter isn't overly solid yet, but I'm sure I just need to hit some PID's..

Oh how I wish 3DR would post good PID's for each of their frames they sell (with both motor options) when new versions come out..

Will be testing gimbal goodness tomorrow once my goggles get here..

I wish I could report positive results as well, but after installing 2.7.3 and the latest Arducopter firmware, my first flight was short.  Very short.  As soon as there was enough throttle to lift off, the hexacopter flipped over faster than a hamburger on the grill.

Props are all turning in the right direction - Any tips of what else to check would be appreciated.  



My specs:
ArduCopter HEXA 3DR Frame
APM 2.0 Purple Full Kit Assembled
Motor AC2836-358, 880Kv
ArduCopter ESC 20 Amp
Propellers: 12X45 EPP Style

Here is a very short clip v2.73, loiter & alt_hold in windy conditions.

Mike, would you care to share your PID values?


After my mishap, I went back to the bench to check my settings.  Everything was reset to defaults when I downloaded the new firmware.  But, I hadn't ever tried any PID tuning, so other than the compas declination, everything else looked OK.

Have you checked the orientation ?
I had this happen when testing when I went from 3S to 4S on a fresh 2.7.1 install, and all I can guess is that connecting the packs the uBEC spiked the board. It had flown, but when I tried to lift off with the 4S on board it just flipped, or rather it oscillated/rotated into a flip.
When I checked the calibrations, in the level section it was showing 'X' instead of the '+' setup I have.
Just something to look for.

Thanks for the tip - I just plugged in the USB and ran MP, and sure enough, the configuration was "X" and my hex is a "+".

I'll test again tomorrow, but I wonder if the hex was trying to "right" itself to a stabilized condition??

Thanks again.

Nice Video!

Your ESC sound flashed. I especially like the part when you are trimming the bush in front of you - it desperately needed trimming anyway :) ... Now you have 1 Abo more - i don't want to miss the next episode:)

So long

Kraut Rob

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