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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Hi airmamaf

i have the same setup like you, but Quadro not Hexacopter. :)
and i got the same problem about the Gimbal, it dont work :(

But the new Firmeare looks very good :) THX to the Dev Team!! :)

I had the same problem but in airplane mode ,fixed it by always starting the telemetry from the MP last. I turn on my RC Tx first, power to APM & RC next , then wait 2 minutes for the APM to settle then connect in MP, my x bees have never bricked in over 100 startups , I always disconnect in MP before removing power from APM and rc. . Turn off rc tx Last .it works and is the safe way.

Hi all,

I just tested version 2.7.3 on my 2 apm1.4 and it is a disaster ... 2 quad-based clone DJI have their engines completely crazy, despite several settings of PID, whenever I've erase and reset , by cons soon as I returned to 2.6, no worries ....

I tried it the 2.7.3 on my Hexa APM2 in, and it works perfectly after some adjustment of PID.

Since version 2.7, the APM1.4, the code has never worked properly. they have the same configuration:

DJI frame, engine 2830/14, esc 30A, magnetometer, sonarXL.

You have found a way to make us upgrade our cards, this is humor;-)
By cons I continue to fly my 2 APM1 to 2.6 with no problem ....

f5: Are those 1280 APM 1s or 2560 APM1s? I don't think we support the old 1280s anymore.

We're thinking of dropping the price of the 2560 baseboards for APM 1 in a special "amnesty sale" to, finally get everyone into the 2560 world. I think they could be as cheap as $25-$30.

2* 2560, when will this special sale?


    I'm updating the AP_Camera wiki page at the moment because unfortunately we had to change the parameters again and this has had the knock-on effect that the MissionPlanner screen needs to be updated.

     In any case, the parameters you need to set are at the bottom of that wiki page and although it seems to work for me, we'd love to hear any feedback (positive or negative) on whether it's working or not.

Randy,how to upgrade the eeprom version from 118 to 119?THX


Just tested in stabilize(my level) and still as good as before. When I grow up, I'll take on the T3 chellenge.


Thanks guys,

Great effort

den: you don't need to do anything. That's just an internal number that tells the code to erase the EEPROM automatically. We do that when there have been significant changes to the defaults and we want people to be using the latest recommended parameters. 

Thanks Randy for your quick reply,

Gimbal is working fine now, wonderfull ! One small contribution for me, you made a mistake on wiki page,  instead of :

"To enable the roll servo (i.e. RC6_FUNCTION = 7 for APM1, RC10_FUNCTION = 7 for APM2)"


"To enable the roll servo (i.e. RC6_FUNCTION = 8 for APM1, RC10_FUNCTION = 8 for APM2)

Thanks again, it rocks now :)

Bonsoir à tous,

J'ai testé 2.7.3 cette après midi

config APM  1.4 ,sonar XL,DJI cadre 450 PID d'origine

Stabilize est fantastique ! (bravo l'équipe), mais depuis 2.7 Alt Hold & Loiter ne fonctionne plus,plusieurs essais PID sans résultats ???

2.7.3 est-il réservé  à APM 2 ? ou APM 2.5?

j'avais de bons résultats avec 2.6.0

merci  de votre aide

Daniel chapelat

Hi Randy/Chris,

this is just a thought I have had (not sure of others thoughts on this) In the mission planner under the firmware is it not possible to have a small drop down box were we can choose say 3 ver of the software ?

this is just maybe for new people that are not to verse with arduino that if the try a new version and are having difficulty they can drop back ? through the mission planner!

or is this something that cant be done?

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