I've just released ArduPlane 2.61, which has a lot of small bug fixes from 2.60.

Changes since the 2.60 release include:

  • fixed wheeled takeoff to work with the APM_CONTROL controllers
  • support setting the plane into MANUAL or FBWA via MAVLink
  • added XTRK_USE_WIND parameter. When set to true (which is the default) the wind estimate from AHRS is used in the navigation code to help with navigation crosstrack
  • added support for using the airspeed estimate from wind + groundspeed when no airspeed sensor is installed to do surface speed scaling
  • added reporting of estimated airspeed over MAVLink if a real airspeed sensor is not available
  • fixed a bug with the throttle suppression code that prevents takeoff in auto when near home. The suppression code could get a false positive if a large gust of wind hit. We now no longer use airspeed for throttle suppression decisions
  • removed the reset_I() calls and instead auto-reset integrators in the PID library if the PID has not be used for 1 second
  • fixed a bug with DO_JUMP mission elements introduced in the last release
  • added ALT_CTRL_ALG option. When enabled, this allows you to select the non-airspeed altitude control code with airspeed enabled. This makes it possible to use airspeed for speed scaling and wind estimation, but use the non-airspeed control for throttle and pitch
  • improvements to the APM_OBC failsafe module
  • added new TELEM_DELAY option to delay telemetry on startup to prevent Xbee bricking
  • fix for HIL simulation in ATTITUDE mode
  • changed FBWA to obey both lower and upper pitch limits
  • added magnetometer accumulation in main loop. This gives us much better mag averaging, reducing compass noise a lot
  • added XTRK_MIN_DIST option, allowing a minimum waypoint distance for crosstrack navigation.
  • added support for the DO_SET_SERVO MAVLink command
  • added RUDDER_STEER option. When enabled, only rudder will be used for steering on takeoff and landing
  • fixed mount control code to allow multiple channels to be set to the same function. In particular this fixes having multiple manual output channels.
  • fixed throttle nudging to not depend on the RC3_TRIM value
  • added THROTTLE_NUDGE option for enabling/disabling throttle nuding

Happy flying!

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Hi Andew,


Let me ask. Is the channel mode bug fixed?


Does this also include that improved CH 3 bootup sequence that Craig wrote to avoid that can't-arm issue we found with some of those cheap Chinese ESCs?

I am impressed with all the improvements in the last few firmware updates. Especially for us that don’t use the airspeed sensor.

Keep up the good work!


Hi Chris,

No, it doesn't have those changes. I just did some testing with Craig this morning and for some reason I can't reproduce the problem now!

I can reproduce a related problem though. If I power up my SkyFun with the TX off (so RX has no signal) then the ESC doesn't boot properly. The patch from Craig and Randy does help with that. I've pushed it to master.

Cheers, Tridge

Does this fix the issue whereby channel function for ch5,6,7 had to be reset after each boot (eg if i set the channel to manual I need to redo this at each boot)?

This is what i meant also.


FYI - just upgraded my plane to 2.61 and the channel bug appears to be fixed now. Well done team.

That s great news!

THX! :)


I am experiencing something very strange. When ARSPD_USE = 1 than horizon starts jumping. :(

I have attached the tlog.




Another serious problem is that, as air speed grows APM shows the plane pitches down.

Attached the tlog



Having an issue in FBW-A. I've been following the tuning guide and I seem to have most issues solved. 

When I'm banking to the left it banks to 40 degree's holds it and maintains altitude. When banking to the right it banks to 60 degrees and holds it. The pid is set to hold 40 degree's. Any suggestions on what values to be checking? In manual mode the plane flys perfect.



Maybe your gain is too high causing it to over bank. Also make sure that your transmitter does not have and aileron to rudder mixing.

I fly with no airspeed sensor. So far everything I tried with V2.61 has worked perfectly and the airspeed estimate on the HUD seams very reasonable.


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