We're within a day or two of releasing ArduCopter 2.6.1 to the public in the Mission Planner. It's the best performing code we've flown and the waypoint accuracy is really impressive. You can check out Marco Robustini's video above to see an long-distance waypoint flight, some tight loiter at 5:30 (holding in a 1m box!) and a fun demo of autorotation.

A full list of changes is here, but they include:


Performance improvements:

  • 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 camera control, including improved setup in the Mission Planner.
  • 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

Views: 4223

Comment by Rana on July 17, 2012 at 7:44pm

Marco said in the video, the waypoint is three thousand meters away, however it was 300mt ?

Comment by Rob_Lefebvre on July 17, 2012 at 8:02pm

Agreed, I don't see how this is autorotation.  I think he was just using the term for fun?  Autorotation requires the possibility of negative collective pitch.  This allows the airflow through the rotor disk to actually speed up the rotors, like a maple-seed falling.  So the copter almost free-falls, but maintaining rotor speed, until the last second when you pull up and dump the rotor inertia into thrust, which stops the descent.

I think he was just attempting to show the good stability in a fast descent, no wobbles.

@John, the motors absolutely stop in flight.  I've done it, sort of a fun trick, to watch it tumble.  Just make sure there are no trees nearby when you turn the motors on, because the stabilization routing causes it to rocket off in an unpredictable direction while it tries to come rightside up.   :o

Comment by Rob_Lefebvre on July 17, 2012 at 8:02pm

@Rana, just a simple language mistake.

Comment by Jack Crossfire on July 17, 2012 at 8:19pm

Don't hold armed propellers next to your face like he's doing.

Comment by Tony Heaton on July 17, 2012 at 8:54pm


If my order hasn't shipped and I want to switch to the uBlox GPS, would it slow my order further?  I ordered the unassembled APM 2 kit.

3D Robotics
Comment by Chris Anderson on July 17, 2012 at 8:54pm

Rana: That's just the standard new uBlox GPS from 3DR. It's the recommended module for ArduCopter.

3D Robotics
Comment by Chris Anderson on July 17, 2012 at 8:56pm

Tony: I don't think so, but I don't run the store. Email sales@3drobotics.com and ask.

Comment by Adam Rivera on July 17, 2012 at 9:52pm

Excellent video Marco!

For all the auto-rotation questions... this is not a true auto-rotation, but it does demonstrate that the quad can maintain its attitude in a near free fall. Marco has custom firmware on his ESCs that is likely responsible for allowing the motors to spin at a very low speed at near zero throttle.

3D Robotics
Comment by Chris Anderson on July 17, 2012 at 10:28pm

Check out the cool new flip function (at 1:00 in this video, from Aaron):

Comment by Aaron Curtis on July 17, 2012 at 10:49pm

A word of warning about flip.pde-- you should expect to lose some altitude while recovering from flipping, so start high!

Sorry the video isn't great -- will post more soon.


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