ACRO bug (fixed in 2.9.1b): while doing flips in ACRO mode, if you switch to Stabilize while inverted your throttle will go to minimum.  To regain throttle control you need to switch back to ACRO then back to Stabilize again (i.e. switch to stabilize twice).  You never lose control of roll/pitch/yaw.

Loiter/AltHold/Auto/RTL bug: if you switch into these modes with throttle at zero motors will go to minimum until you raise the throttle.

Auto mode altitude bug (fixed in 2.9.1b): setting a waypoint altitude greater than 320m over home altitude may wrap around and instead be interpreted as a low altitude.

ArduCopter 2.9 is now in the mission planner and the downloads area!

The major improvement is we use inertial navigation to improve altitude hold.  This increased reliance on the accelerometers means you must do some additional set-up before flying:

1. Perform the new accelerometer calibration in the mission planner (video).  The auto-trim metho has also changed (video).

2. Add vibration dampening foam between your frame and the APM.  Some suggested materials: DuBrogelhk foam.

 3. If upgrading from 2.8.1, modify the throttle and altitude PID values:

  • Increase your Throttle Rate P, reduce I to zero, increase D
  • Increase Altitude Hold P, reduce I to zero
  • Tune Throttle Accel P and I terms but try to keep P about 1/2 the size of I


Here is the list of major changes (a more detailed list can be found in the release notes):  

  • Alt hold using inertial navigation (Leonard, Randy, Jonathan)
    • AUTO_VELZ_MIN, AUTO_VELZ_MAX parameters control the max climb/descent rate for the autopilot (cm/s)
    • PILOT_VELZ_MAX controls max climb/descent rate for the pilot (in cm/s)
  • Landing improvements (Leonard/Randy).  Copter will descend to 10m or until an object is sensed with the sonar.  Then slows to 50cm/s descent (speed can be adjusted with LAND_SPEED parameter). (video).
  • Surface tracking with sonar (Randy/Leonard).  Copter will attempt to maintain current distance from objects in front of sonar regardless of altitude.  Only used in alt-hold and loiter, not used for missions.  Sonar can be enabled/disabled with CH7 switch. (video)
  • Failsafe improvements (Randy/Craig/John Arne Birkeland) including bug fixes, additional check for PPM encoder failure and implementation of battery failsafe.  Set-up instructions are here.
  • Mediatek gps driver accuracy improvements and use of SBAS [Craig].  Instructions on upgrading your mediatek to firmware 1.9 are here.
  • Traditional Heli improvements (Rob) including (a) bringing heli code back into the fold, (b) enabled rate controller (previously only used angle controllers). (c) fix to rotor speed controllers - now operates by switching off channel 8.  (d) allow wider collective pitch range in acro and alt hold modes vs stabilize mode  (e) bug fix to allow collective pitch to use the entire range of servos
  • Acro trainer (Leonard). Copter will return to be generally upright if you release the sticks in acro mode.
    • ACRO_TRAINER : set to 1 to enable the auto-bring-upright feature
    • ACRO_BAL_ROLL, ACRO_BAL_PITCH : controls rate at which roll returns to level
  • Camera control improvements (Randy/Sandro Benigno):  (a) AP_Relay enabled for APM2  (b) Trigger camera with CH7 or DO_DIGICAM_CONTROL command  (c) Allow pilot override of yaw during missions and fixed CONDITIONAL_YAW command.
  • PPM sum support for transmitters with as few as 5 channels (Randy/Tridge/John Arne Birkeland).
  • Performance and memory useage improvements (Tridge).


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.

Special thanks to our testing team lead Marco and the dedicated bunch on the 2.8.1 release thread who put their copters at risk while testing the pre-release version.  Some of their videos are here: 1 2 3 4 5 6 7 8

Please feel free to report issues you find in the discussion below and/or add them to the issues list.


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    Ok, i've added those bugs to the 2.9.2 list as well.

"4. ESC calibration change to support Simonk flashed ESCs"

Goodbye manual calibrations? Thank you!

Randy, flew 2.9.1-rc2 quite a bit this morning (with Craig Elder watching :)) - a couple missions, Alt Hold, Loiter and free flight.

Nothing untoward to report, flew really well, no failsafe false alarms. Well done again to all those involved.


     The scale on the right is done by clicking on the check-box with the right-mouse-button instead of the left.  Left button make the item appear with the scale on the left, right-mouse-button makes it appear with the scale on the right.

     I've made a couple of intro videos for tlogs and dataflash logs which can be found at the bottom of these pages:  tlogs   dataflash logs.


     Great news, thanks for checking it out.  By the way, I was looking at your log files a bit more and I noticed that your compass offsets are very large (>250 on x and z.).  I think you may want to move your APM further from your escs and other power cables.  Now, it's possible that I mixed up your logs with someone else's but maybe you want to have a check in the advanced params list (see below).

Where can I find documentation on how to run APM code on PX4, starting from both git repositories, where to put apm sources in PX4 sources (root, apps?) modify appconfig, makefiles, etc..., and configure apm

As Arducopter 2.9.2 is the first official release for PX4, these info deserve a dedicated area.


Ah Randy, I didn't expect a reply on that with the more important problems being sorted!

Ok Just for completeness sake Loiter_unlim also ignores alt change

Not at all mate. I have tried to set the defaults for the new loiter to be assertive but not a meth head at a rave.

It would be great if you could have a look at tuning the new Loiter for filming smoothness when 2.9.2 is released. One of the hardest aspects of this project for me is knowing how people might want the copter to FEEL.

For example Alt_Hold does a very good job at holding altitude in all flight modes but some people find the default tune too aggressive, others want to make if faster.

The more people that are able to tune for the FEEL that they want, and publish their experiences here, the better the advice we can give to others asking for the same thing.

Thanks for your help :)


    Yes, you can thank SirAlex and MaxLevine for that one.


    Yes, We will create a discussion I think in the next couple of weeks and include details of how to load up the code onto your PX4 and whatever else we can.  Ahead of the 2.9.2 release it'll definitely be fly-at-your-own-risk 'cuz the code won't have been extensively tested yet.

     By the way, the build doesn't work on windows quite yet.  Only Linux and maybe Mac so far I believe.

Thanks, mmmn, just checked them now... 97.152 and -176.67 is that OK?

Today, I test Loiter, RTL, Auto 2.9.1 and Failsafe are all very nice. 


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