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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The 2.7.3 default parameters are working great with my f450, but I wonder if anyone can tell me if the sk450 parameters file in the AC DL section will improve anything. I haven't looked at the differences yet, but is anyone using it with 2.7.3?

Mr. Anderson, I know that you have a variant of the f450 in your fleet (nice dance, by the way- I love where some people insist on going with some of this stuff ;)  ); are you using defaults, custom config or this parameter set?

Hi all,

After the holydays come back, I hadn't had the chance to to test 2.7.3 until now.

My setup:

Y6 Hexa (aka Skybot)
Arducopter v.2.7.3
Default parameters
Motors:BC-2836/7 1120kv
Props:Top: 11x4.7, Bottom: 10x4.5
Weight:2.1kgr + 5A Batt.
Size: 57cm motor to center

Just tried stabilize and alt-hold.

Stabilize, great! yaw responsive and solid, best default params ever.

Alt-Hold, tuned with CH6, kept height within 15cm.

Great job devs!!  Now I'm confident enough to think of trying fpv and the rest of modes.


You didn't say what hardware your using and weather conditions!

I experienced these problems with earlier fw revisions and using the mediatek gps. Circles, yoyo, and pendulum effects. Bad in no wind, terrible in wind, and useless if it was gusting!
A combination of the fw 2.7 series, and using uBlox gps has more or less sorted these out for me!

Only residual tendency left was a slight yoyo which can be eradicated by reducing throttle_rate_P and Alt_hold_P

Loiter Accuracy varies with wind, I found that you either tune for wind or no wind, the settings are different, and performance accuracy in wind will never be as good as in no wind. Although I have video of rock steady performance in wind, on another day it is noticeably less accurate. Possibly solar activity could be affecting the GPS or it could be more/less satellites affecting fix quality on different days. in theory we should be able to get to 3m of where we plan, I haven't really tested this, so I could be 3 or more meters away from the actual gps location and not know it, although can guarantee I can rtl and auto land within 4m of home position in calm or wind, providing its not gusting, so there must be some good averaging methods at work.


Dani - I am jealous.

Are you getting the Alt-Hold that accurate with or without the Sonar?

I am currently seeing Alt-Hold as +/- 3M.  Should I turn off the Sonar to tune Alt-Hold?

Hi Stephen,

I use sonar for the AltHold :-)  Although it doesn't like to fly over grass ... sonar loses accuracy as grass is not a good surface for sound bouncing.  The accuracy I get is at low altitudes 1.5 to 2m, so only the sonar is used, and over hard flat surfaces.



So, up to 2m you achieve 15cm accuracy?

I too would like to know.

More or less, yes, as long as you fly over flat surfaces. I was just able to do a couple of short flights. Next week I'll do more testing.

On my Quad with APM2.0 the flights are extremely stable with V2.7.3

I can fly it as hard back and forth as I please and it doesn't overshoot. In Auto the other day it acted smoothly and landed the best I have ever seen yet. Just a couple of questions please :

In MP I plotted a 31 waypoint mission along a field and up a hill. The hold default alt was checked and so was verify Height. Default alt was set to 30mtrs and along the right hand column I entered 30mtrs in every waypoint altitude . When the radio was switched over to auto, the quad raised up to 30mtrs and followed the waypoints. As the quad went up the hill, the altitude did not increase. Amazingly it touched grass at one point and raised just 2 meters and went up and over a wire fence ! ( A great deal of luck I think ) . I have sonar and on-board gps. What did I do wrong ? I thought "verify height" would have raised the quad as it climbed the hill.

I tried to look at the logs, but I am still baffled about how to use them. Sometimes after converting them to KML files they work with google earth, and other times they show nothing on GE.


Also when I switch from stabilize into alt hold, the quad drops 2-4 meters before regaining height. Maybe a setting in MP ??

Only today I had the chance to test version 2.73. Seemed pretty stable (2.6 was already), however, I noticed some changes on the default params wich I don't understand.

Why the IMAX value lowered so much since 2.6 ?

Why STAB D is now at 0.000 by default when it used to be 0.100 ?

Also I noticed some motor bursts when I give full YAW. It doesn't happen when I YAW slowly.

I dropped Throttle Rate to 0.280 and ALT HOLD  behaved pretty well with about 50cms error wich is not bad at all since I'm flying APM1 with OilPan and old barometer only

STABILIZE without wind and with the hexa well calibrated and leveled, behaves much better than LOITER (with default params) with the MediaTek GPS. It starts to wonder around. I'll try to tune it better but I don't have much hope.


I'm flying a DIY Xaircraft Hexa with Sunnysky x2212 980kv, 10x4.7 props and 6000mAh nanotech battery.

I asked the same question a few days ago Rui, but now reply yet.  My standard size quad flies really well using mostly default PIDs using 2.7.3  Today after a rebuild I tried out my Hexacopter in my lounge room only so far and and I used a few PID settings  I had for it previous as in this picture.  There seems to be some setting have some big charges but it seems to fly pretty well. Im just curios if others with larger rigs are using the defaults or what.? .  Perhaps you can renew your PID spread sheet program again so we can see what others are using now?

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