I've just released ArduPlane 2.71 for your flying pleasure.

As was described in the 2.71-beta thread, these are the major changes from 2.70:

  • prevent control mode changes due to receiver input change when in throttle failsafe
  • auto-scale analog input based on board voltage. This also removes the INPUT_VOLTAGE parameter, as it is no longer needed
  • added TKOFF_THR_MINSPD and TKOFF_THR_MINACC parameters. These allow you to set a minimum ground speed or X acceleration before the motor is started in auto mode. This is to better support hand launching in AUTO mode, and bungee or catapult launching.
  • added TKOFF_HEAD_HOLD option. This determines if auto takeoff will try to hold heading while climbing out. For a hand launch it is often better just to hold the wings level, instead of trying to hold heading.
  • changed FBWB altitude control from elevator to lock in the altitude when the elevator stick is neutral. This fixes a problem with altitude changing in FBWB mode due to slight tuning errors. You can set the climb rate for FBWB with the FBWB_CLIMB_RATE parameter. It default to 2 m/s
  • auto-detect when the compass is way off due to interference and switch to GPS navigation until the compass is healthy again. This is designed to prevent flyaways due to very bad magnetic interference.
  • prevent servo output overflow on large PID gains. This is especially important for elevon aircraft
  • changed default STICK_MIXING behaviour to use FBWA style stick mixing in AUTO mode. This prevents the pilot from causing radical turns if they don't know that the plane is in an AUTO mode. You can get the old behaviour by changing the STICK_MIXING parameter to 2.
  • Added a software VTail mixer, enabled using the VTAIL_OUTPUT option.
  • Fixed loading of missions with DIGICAM control commands, so DIGICAM control works again
  • Don't trigger a GCS failsafe if the GCS has never connected
  • Fixed fence MAVLink target IDs (fixes a problem with AndroPilot)
  • Added HIL_SERVOS parameter to allow real servos to move in HIL mode
  • Fixed an off-by-one in PX4 channel output (last PWM output channel wasn't sent)
  • Fixed scaling of joystick speed when controlling a camera gimbal with a joystick
  • Fixed creation of APM directory on SDCard on PX4
  • fixed auto-config of uBlox baudrate for uBlox modules set to 9600 baud
  • Fixed PX4 startup in FMU only mode
  • Added APM/boot.log on SDCard on PX4

Many thanks to everyone who contributed to this release!

One thing that isn't in this release but will be in the next release is the new L1 navigation controller from Brandon and Paul. They are doing fantastic work and testing is good so far, but I wanted to get the new features above out first before adding the new navigation code. I hope we will release a 2.72 release with the new L1 controller in the next couple of weeks.

Happy flying!

Cheers, Tridge

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Hello Alexey,

Great crash and over 8km away. Beautiful country side. What radio were you using? Did you retrieve the EasyGlider? I can't claim to be a log analysis expert but it almost appears to be a mechanical failure. Halfway to WP5 there is a jump to WP6, (was that you?) which is in the opposite direction. The EasyGlider correctly banks sharply to the left but then fails to straighten up and continues to a left hand downward spiral even though the servo outputs appears to be moving the control surfaces in the correct direction, even the motor is on full trying to pull itself out of the dive.

My guess, aileron servo failure or broken wing.

I would be keen to hear somebody else's opinion.

Cheers, Waz

What could case my plane to not react to speed change in FBWB?

I did set max and min value, but my plane is always flying around cruise speed, even if i have throttle stick at the highest or lowest position. No change.


Hi again,

Just have found another thing in connection with logging.

 It seams that "Long" really is mix alt and "Sonar alt" is GPS alt etc.




where can I find the latest source code?

my clone of: https://code.google.com/p/ardupilot-mega/

points to a code with latest arduplane release of version 2.68? 

Hi Martin,

We moved to github after 2.68. The main project is at http://github.com/diydrones/ardupilot

Cheers, Tridge


Could you give me a bit of guidance on what i need to change in my parameters to allow this my plane to fly more accurately. Here is a log file of a recent flight. If you would be so kind as to analyze the data and point me in the right direction I would be grateful.

I have also noticed something new, a kind of issue. I set the home position however the plane never shows it will go to it.

Thanks for your help


This is how wind panel works using 2.71 (middle right)

But it is strange that i had to set ARSPD_RATIO to 8,4 after fixing the leak...


This is strange.

Look at how wind speed grows while i dive!

(Arrow shows direction upper number is current wind speed, lower is a kind of average)

Why is this?


8.4? That doesn't sound right at all.

I'd expect that to cause your airspeed to be overestimated by about a factor of 2x

I suspect your pitot still isn't right.

Cheers, Tridge

Hi Andrew,

Thanks for your great work! Just letting you know that LAND command doesn't work in non airspeed altitude hold algorithm!



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