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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yeh on my X8 one prop blew off and I think the top prop hit it and broke that off as well and when ti hit the ground ended up smashing the AMP board, GPS and bending two motor shafts. After that I though never to use low cost props again. The money we spend and then go using a $5 prop is really stupid. Ive now fitted carbon porps, but now I am wondering if I will end up doing more damage with these to motors and arms on minor crashes with this. yah damned if you do and damned if you don't

OK - went ahead and put a shield together per your description. Went form HDOP 1.2 to 0.8 and picked up an extra satellite. Thanks.


     Sounds like maybe your sketch book location hasn't been updated to be where the zip was extracted to?  Arduino looks for a "libraries" directory in the sketchbook guess is that maybe you have the sketchbook location pointing to an older installation of the code and then you're using File, Open to open the new arducopter.pde?  This would mean you were using the latest main code but out-of-date libraries which would cause that compile error that you're seeing.

     That's my guess anyway...


     By the way, you can move to the official Arduino 1.0.1 if you'd like because that includes the relax-patch.  It's not necessary of course..there's very little different between Arduino 1+relax-patch and Arduino 1.0.1.

The HDOP and number of satellites in view are constantly changing.  If you don't have another uBlox to make a side-by-side comparison, try to mimize the time between with and without the shield.  A low DOP is good, but the difference from 1.2 to 0.8 could be completely a result of seeing the additional satellite.  Sorry for bursting your bubble, but if you watch the HDOP over a few days and it never goes over 1.0 then you may be on to something.

The motors were all squared up at launch. I think the camera is messing with the image a bit (GoPro Hero2 with 170 degree lens). I do notice the right motor seems to twist a little left at one point. I also believe at the time of "control loss" one motor twisted hard. The computer had no idea how to handle this. In the past I have had props explode on two occasions on the Octo. (cheap props) It then flies like a lazy chicken but lands soft and flat. No damage at all. Not much control either.

small question for AC developers

i look  git AC 274 code 

how throttle_avg  work?

in file arducopter pde in " void update_throttle_mode(void)" in each call executed reset avg value
static float throttle_avg = 0; // this is initialised to g.throttle_cruise later

then in bottom

// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
// calc average throttle
if ((g.rc_3.control_in > g.throttle_min) && abs(climb_rate) < 60) {
throttle_avg = throttle_avg * .99 + (float)g.rc_3.control_in * .01;
g.throttle_cruise = throttle_avg;
as result g.throttle_cruise may be changed only to 1 percent from previous
value per call

why need a check "if( throttle_avg == 0 )" ?
throttle_avg always zero 

Hi Marco, I have  few hours this weekend for testing, is 2.7.4 epislon the same as 2.7.4 final (all expect some rigourous testing) or are there more changes? 


can we use this module LEA 6N with  GLONASS and Galileo support

or this expensive one with precise positioning tech.

u-blox direct

also be aware,new ,better modules coming at the end of year



    throttle_avg is a static variable so it keeps it's value even after the function has been executed.  So it's only zero the very first time we run through that function..then the check of whether it's zero or not happens and it gets initialised to the throttle_cruise value.


of course, static


how i can see throttle_avg  value for tuning g.throttle_cruise for next fly?



my first Quaid hover at 70% of the trottle,
I built a new, it start lifting at 15%
and I'm afraid to make a big error in setting this parameter

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