Today I did a lot of testing and tuning with the new unreleased beta version of ArduCopter code, known as "2.9.2ß" (V3 i think for the official exit), quad with APM V2.5 and U-Blox GPS by 3DRobotics.
The inertial control developed by Leonard and Randy, with the support of Jason, is finally giving the results that for over a year all we are waiting.
To be perfectly sure I've repeated this test at least 10 times in three different flight, with the same great performance.
As you can see from this image and video the max radius in Loiter is now not over one meter in windless/gusty winds and max two meters in strong crosswind, near the position hold performance of the best commercial product, DJI Wookong-M.
We are trying to improve the waypoint navigation but now we're here, the next release will be really a milestone.
We still have to solve a few problems related to the inertial control x/y/z, but I am sure that the excellent results achieved so far are to mean that we are on the right track.
I attach the telemetry log.
DJI, here we come...


-= AC Dev Team =-

EDIT: in my video you can see the version "3" of the code, nothing secret of course, is the current master branch on GitHub called at the moment "2.9.1b-DEV".
Jason Short on the dev list has proposed to move version from 2.9.1 to 3.x for the massive changes inside the code (ap_hal, PX4 support and other), and following its proposal I have appointed as such in my videos, that's all.


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  • Surely, those that are serious about getting the best performance would be more inclined to get the recommended U-blox GPS unit? Why waste further time and effort trying to get the MTK to work better, isn't it the equivalent to polishing a turd? I've just ordered the APM 2.5, with the UBlox as my previous APM 1 and 2 had the MTK and the best I got was a 5m radius pos hold, with a 12 sat lock. This code is coming ahead in leaps and bounds, kudos to the dev team.

  • i save dataflash logs (5 logs files) of preparation and this fly but i cannot create correct kmz file for look before send for you

    i see log gps data - columns order changed first data is 3 - its 3dfix but first column is gpstime

    telemetry modem & fpv transmitter  has been disconnected to exclude its influence on GPS


  • Hi Rana, greetings all.

    Congrats on your successful compile... it's been elusive in my case however.

    Tried compiling using same Arduino version 1.0.3 per Marco's link, with the master (zip download) and comes up with the compile errors (pls. see image)

    What am I doing wrong or missing? Any suggestion?

    (So I'm just uploading the latest compile from here.)

    Much appreciated.



  • What is HIL (hardware in the loop) version of firmware ?

  • Can't wait to try it soon..

  • @alexey could you compile a QUAD X V-FRAME for APM2 ?



  • Developer

    @Alexey: can you send me a tlog/flashlog with Loiter of at least one minute, of course with this ßeta and MTK3339?
    Thanks in advance.
    If you want to test with this version remember that the absence of vibration is essential, we had problems of "fly away" with setup not too accurate.
    We are working to refine the inertial controller on the altitude.

  • ArduCopter V2.9.1b-dev compiling well in Arduino 1.03


  • compiled hex files for all frames  beta & relises

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