In just a short while, ArduCopter 2.7 will become available for download in Mission Planner. As we worked on ArduCopter 2.6.1, we saw that it had several new and compelling features (as well as many bug fixes and improvement) so it was decided to make this a major version release. 

A full list of changes is here, but they include:


New and Improved:

  • NEW: 3-axis camera stabilization
  • NEW: AP_Limits library: Altitude limits and geofencing.
  • NEW: Automatic Flip (Roll axis) is now enabled on Channel 
  • NEW: GPS lag estimator
  • NEW: the quad first rise vertically to the "ALT_HOLD_RTL" altitude (if declared) when engage RTL
  • Better altitude control in ALT_HOLD and better altitude transitions
  • Better loiter, rtl and auto missions, especially with the new 3DR uBlox GPS. Check out my video above!
  • Better yaw control
  • Better DCM implementation, resulting in noticeably smoother flight
  • Better velocity control in Auto missions
  • Etc


  • Fix to dataflash erasing, which should resolve an issue some users were having
  • Fix some MAVLink commands
  • Fix Circle command
  • Fix some units
  • Etc


No more 1280 support (out of program space)
Know issue:
- throttle stick during loiter need better rpm range


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Hi all!
Here all logs of my latest extreme test, my quad in AUTO mission with gusty wind over 40 km/h!
Look at the inclination of the quad during the waipoint 3 <--> 4, is over 30°.
Enjoy with AC 2.7!




Thanks for all your work with this Marco! It wouldn't have been so good without your patience + experience. Best test team leader ever!

Thanks Chris, the credit goes to the whole team, including you!
After making hundreds of flights I can safely say that this version absolutely will not give problems during fly, has a high level of security and stability.
Obviously, and as always all need to make a good tuning and figure out how to adjust the parameters before venturing into "extreme missions".
The test I performed with my APM2 in extremely strong winds have strengthened the soundness of the DCM (thanks Tridge), if there were problems they would come out, the quad was literally tossed in the air.

Now it will only make "cosmetic touch-ups"...

Enjoy! :-)

Hi all.
Yesterday i had a problem with my self compiled version from Sunday.
The first small Problem was that only the CCW Motors start turning. (i have a logfile if you need)
After an Hardreset (Accu off and on) all Motors are ok.
But then came the scary moment in my quad time.
I activate the Motors and the Quad goes with Highspeed in the air.
In the logfile i see that short before the RTL Mode goes active (Ch7 to high), i didn´t do that on the transmitter.
The second high on CH7 (Mode RTL) was my reaction of the climbing quad.
The reaction was not what i expected. Later i tried to catch the Quad via Guided Mode to 50m. The quad flys to the point but climb.
Than i tried Loiter Mode with nearly no throttle and the quad climbs to 400m than he start with descent.
The Quad descent to 150m than the connection lost and the log onboad stops.
The GND lane on the Powersensor burned away. The last 150m he descent with no power and landed in 30cm high grass with nearly no damage. Only the legs are broken.
My question is not why the mode switched to RTL without user input. Maybe error in CPPM will go back to PPM.
The question is why start the Quad up in the air, all my throttel input is lower as the normal hover throttel?
And why he climbs more in Guided and Loiter Mode?

I also have a log from Tuesday the Quad toggeled between Stable and Guided mode without user input.

I hope somebody can say what going wrong with my quad yesterday, on Tuesday the quad was good to fly.,,

Thank you,



And the Parameter file.

I changed the setup after i stored that file.










And as last the tlog file from the toggle between Stable and Guided Mode.


Hello team!

I'm experiencing troubles with ArduCopter_2.7. Connecting via USB to MissionPlanner_1.2. Connection successfull, but  can't get flight data from my APM1. CLI->test->ins shows gyro and acc data being changed while I was rotating my APM1.

ArduCopter_2.6 works fine with MP_1.2.

I have attached the MissionPlanner console log and the screenshot of flight data window.



The system switch in RTL without user input when loose connection with the receiver (the link with CH3, the throttle channel), but not when the quad is disarmed and without a good gps fix, only during fly.
About your issue have you checked the built-in failsafe of your tx/tx?

one question (dev team as well) is this the dataflash being erased thats causing "hangs"

Dataflash problem (no logs saved, or system hangs during fly):

For users with this problems (but I recommend it to anyone) please follow this easy step:

- save your parameters with the planner
- install ArduCopter V2.55 (with Arduino) and reset the board with CLI ("reset" command)
- enter to CLI with the planner and erase all the logs
- install ArduCopter V2.7 (with Arduino or the planner), reload your saved parameters and check if all work fine


@Naumov: try to reset the board with the button and check if the sensors work fine after reconnection.

HI, i don´t have an active failsafe in the TX/RX.

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