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:

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  • Jean-Louis,

    I love the videos and what you are able to do with the quad!

    I'm trying to get my quad to fly autonomously and I was wondering how you started off with Auto flight?

  • hey brother can u tell me what is the max speed of ur motor after u added ur own battery to ur quad???????????

  • Developer

    Yes Davey, it is now included in the next release.

    Regards, Jean-Louis

  • 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

  • Developer

    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

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

  • 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

  • Developer

    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

  • Developer

    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

  • 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 !

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