ArduCopter V2 in Action - Full navigation in AUTO mode

Here a video of a full autonomous navigation in AUTO mode of the QRO (Quad Rotor Observer) with the firmware Arducopter v2.0.56a. The waypoints have been recorded in flight with the Switch on Ch7.
Successful tests of modes: ALT_HOLD, LOITER, AUTO, WP_SAVE, STABLE, SIMPLE.
The heading is locked with the help of a 3 axis magnetometer, the altitude is only locked by a barometric pressure (no sonar and no optical flow sensor).

Avionic setup:
 - Ardupilot Mega (Atmega 2560 @16 MHz), 32 Mips
 - Full 9DOF IMU,
 - Built-in 16 MB Data Logger,
 - Absolute pressure sensors (Bosh) for altitude,
 - triple axis magnetometer HMC5843,
 - 10Hz Mediatek GPS.
 - firmware Arducopter V2.0.56a (JLN updated)

 - Receiver: Turnigy 9X8C v2
 - Transmitter: Turnigy 9x
 - uBec 5V @ 5A Turnigy

Hardware Setup:
- four brushless motors RC Timer BC-2836/11 (750 KV)
- two CW propellers  12 x 4.5
- two CCW propellers 12 x 4.5
- fours ESC 40A RC Timer speed controllers
- one Lipo battery 3S Turnigy Nano-Tech 2200 mAh

- Take Off Weight (TOW): 988 g without payload

- Flight time: about 10 min

more infos at:

Views: 2753

3D Robotics
Comment by Chris Anderson on December 10, 2011 at 2:43pm

Excellent! Not bad alt hold given that you had no sonor sensor. Can you post a screenshot of the mission plan, too?

Comment by Rob_Lefebvre on December 10, 2011 at 3:26pm

Good work!

Comment by on December 10, 2011 at 3:42pm

Great video, and always nice how you give so much information on your posts!


Comment by Rana on December 10, 2011 at 7:03pm

JLN, this is amazing ! Such a great performance of ACM, and that is too without Sonar !

You have also contributed like developers in your own way, thanks for your contribution !

Comment by Jean-Louis Naudin on December 11, 2011 at 1:18am

Hello to All,

Thanks for all comments about my tests flights on arducopter v2.0.56, here my PID setup used for these serie of tests flights:

I have done some minor changes from the orginal version 2.0.56, so I have:

- used the log.pde file from the v2.0.50 because the log.pde of the v2.0.56 doesn't work for me, most particular about the baro_alt datas.

- corrected a minor bug about the loiter latitude in the navigation.pde,

- reduced the required time to 2 sec for arming the motors (ARM DELAY) from 30 to 10 in the motor.pde,

- updated the APM_Config.h file so as to use the magnetometer and a quad plus config.

you may download my updated version of the firmware of the arducopter v2.0.56a HERE

Below the recorded flight path in AUTO mode:

and the logged altitude during the flight:

Regards, Jean-Louis

Comment by Jean-Louis Naudin on December 11, 2011 at 9:43am

Here another video, taken on dec 10, 2011, of a full autonomous navigation of my quadcopter (QRO) with the Arducopter firmware v 2.0.56a set in AUTO mode with the same PID setup as above. The running flight plan have been previously recorded in flight with the toggle switch connected on radio Ch7. I really enjoy to see the quadcopter flying by itself...

Regards, Jean-Louis

Comment by Rana on December 11, 2011 at 7:14pm

JLN, I have browsed ur code in "commands.pde" and observed that you need to incorporate the latest fix of lat. error by emile;

// float rads = (abs( * 0.0174532925; // Existing

float rads = (fabs((float) * 0.0174532925; //Fix of Lat. error by Emile on 12.12.2011

Comment by Rana on December 11, 2011 at 7:22pm

Wow, what a great video / performance of the ACM    !

Comment by Jean-Louis Naudin on December 11, 2011 at 11:07pm

Hello Rana, Thanks for your latest fix of lat in the commands.pde from emile. I shall update my code and this will improve the accuracy of the navigation.

Regards, Jean-Louis

Comment by DaveyWaveyBunsenBurner on December 12, 2011 at 2:26am

All, good work on the bug hunting, I take it this is being communicated to the official dev team for inclusion in the next release?

Thanks again


You need to be a member of DIY Drones to add comments!

Join DIY Drones

© 2020   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service