ArduCopter 2.7 Released!

Announcing: ArduCopter 2.7

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
  • Better altitude control in ALT_HOLD and better altitude transitions
  • Better loiter, especially with the new 3DR uBlox GPS. Check out the video from Marco 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)
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  • Moderator

    Please continue the v2.7 discussion here:

  • Well, today I had the honor of finally being able to fly my standard quad in open air, 2.7 code installed.

    20 Km/h wind, loiter pretty much stayed in a 3m x 3m box, deviating maybe to 3m x 5m in length with wind gusts.

    It was so awesome, I just let it loiter out a complete battery pack :-)

    Thanks Team !

  • Tested 1) alt hold 2)  loiter 3) RTL.

    Alt hold has been smoother in some eraly versions, but decent now.

    Loiter worked fine - for the very first time out of box! Great.

    RTL worked fine - for the very first time out of box! Great.

    Stabilize is very smooth!

    I will continue to waypoints and auto. 2.7 is the first release for me to get this far.

    Many thanks for this community & especially the dozen most active members. I love you :-)

    Custom made frame out of aluminium. Turnigy 2217 motors. APM2.0. Plush 25 ESC (with stock software)

  • I have a question about RTL:

    We tried it today with 2.7, it worked fine, came but home but descended to about 2 meters and did not land.  I found an RTL_LAND on the Planner screen, documented as 0=don't land, 1=land.  Changed it to 1, but it didn't help; still approached at ~ 2 meters but did not land...

    What am I missing?

  • Developer


         I think we should all move over to the 2.7 release discussion.  So we created a blog post this time but it makes it difficult to separate the issues, so let's move over to the discussion that Marco created.



         Unfortunately there's some set-up procedures you need to follow to get the camera working again.  It's listed at the bottom of the AC Camera wiki page.  We're working on a MP page to make this easier.

  • I can't get my camera servos to work :(  APM 2560 + fw 2.7

  • Hello everyone, camera servo 5 (pitch) jitters badly, no matter how the servo and angle limits are set. I was able to set-up the roll servo with no problems, easily.

    Mission Planner: 1.2 (latest)

    Firmware: Quad 2.7 (latest)


    On the prior version it was working with no problems.

    Help me please!!

  • Was the throttle issue sorted in this one?

    Can't see any reference to it in the changes...

  • Hi John Church,

    YES, please do the blog on how to fit 2.7 in the 1280 board.

    I know about disabling logging, but I'm sure there are other bits of code one can do without :-)

  • After updating to 2.7, I noticed the rc3_servo_out logging is always zero (it used to follow my Throttle_IN when flying in stabilize mode). Any idea if it was disabled in this release or if I did any change in my copter that must have affected it?



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