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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Just one thing to remember...uncomment one or the other not both at the same time.

So DMP_ENABLED will make DMP be used as the main attitude estimator.

SECONDARY_DMP_ENABLED will leave DCM as the main attitude estimator but DMP will also run in the background and rows name "DMP" will appear in the dataflash logs will show you a comparison of DCM vs DMP.

ArduCopter 2.8 has been released!  So everybody over to this thread! :-)


    That might also be mostly resolved in 2.8.  I suspect it's the same issue..if unconstrained yaw commands can cause a massive change in the speed of the motors (some go up, some go down).  So much so that some motors go over their max or under their min.  because this is physically impossible you end up with some motors not slowing down enough (in the case of climb on yaw) or not speeding up enough (descend on yaw) to keep the overall thrust the same as before the yaw command.


    I'd bet that it is either:

          1. the compass heading is off so that it keeps missing it's target.  This could be because the compass offsets haven't settled yet (they're calcalated automatically as you fly), or because of a lot of magnetic interference from the motors or escs...or perhaps the declination is incorrect (this last one is a bit unlikely).

          2. your Loiter Rate P or I terms are too high.  With a UBLOX you should be able to set your Loiter Rate P to about 5 or 6.

HI Randy,

Thanks for the input. I will check all parameters. The Octa does not slowly yaw like my other did, it is dead on, but I did not check the actual heading. The ESC's and Motors are quite far away, so I doubt that is it. 

Will try 2.8 first and then see what happens as my understanding is that the parameters are different anyway.

Now I need to find out how to load has been a while...


I believe it was a different problem as I describe in the post regarding 2.8 (my post with the screenshots). Reloading 2.8 solved the problem entirely.

Got out to film a quick mission, link here:


I'm running a 3DR hexa on APM 1 with a ublox gps and lots of assorted video and control goodies and mods.  880 motors w/ 12-45 props on 3s2p 3700mah.

Onboard recording camera (2 of 2) is a gopro2.





Yes, it is resolved in 2.8. Can descend as fast as I want without any yaw!

I am following your approach so interested.
Sorry to reiterate but, so the ground plane doesn't need to be connected to ground!? Sounds odd. ;)

May I ask, you use Quad X or Quad V for TBS Discovery Frame?

We are having very exciting flights with the arducopter.  We are currently flying in autonomous mode and easily able to navigate waypoints.

Here is my problem.  We are flying at 8 M/sec Nav.  If your waypoint has a 90 degree turn, the copter stops very hard and turns.  It there a way to smoot out the turns.  I am afraid the props are going to fly off!!!

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