3689434478?profile=originalHello to All,

I have done successful tests flights with the version of the ArduCopter v2.0.51 (original firmware version, not modified). I have used a hands build quadcopter frame (550 mm wide) . In spite of the windy and gusty weather (wind 18 Km/h gusting 22 Km/h), I have been very suprised by the stability of my quadcopter with this new firmware (thanks to Jason and to the DIY Drones team).



I have tested some features such as: STABILIZE, SIMPLE, LOITER, ALT HOLD. All these modes works very well after a fine tuning.

You will find below my PID setup:


You may download My working PID setup parameters

Below some technical details about my quadcopter:

Hardware Setup:
- ArduMega 2560 + IMU Shield
- HMC5843 magnetometer
- GPS Mediatek MTK 16 (10 Hz)
- firmware Arducopter V2.0.51 (original version)

- Receiver: Turnigy 9X8C v2
- Transmitter: Turnigy 9x

- 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 controller
- one Lipo battery 3S Turnigy Nano-Tech 2200 mAh

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

- Flight time: about 10 min

You will find a full photos album at:

more infos at:

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  • I am hovering without a sonar.

    And when i move to Alt hold, the copter in the end descending until it reach the ground.

    Which parameter control it?

  • I went through my capacitor box and the highest uF I found was 1000uF 35V. Any problem using that? I'm using a castle 10A BEC if that makes a difference.

  • Developer

    Here a video of the first test of my quadcopter (QRO) during a full autonomous flight in LOITER mode (GPS position Hold) at low alt with the firmware Arducopter v2.0.51. The altitude is locked by a barometric pressure only (without a sonar sensor and without an optical flow sensor).

    Good work to Jason and to the DIY Drones team....

    Regards, Jean-Louis

  • Developer

    Good News... After a long fine tuning, I have succeed to get a stable ALT_HOLD (Baro only) without and with light wind. The tests flights have been done with the firmware Arducopter v2.0.51 (original version, no personnal modification). Previously, I have also tested successfully in flight the STABLE, SIMPLE and ACRO mode.

    Below you will find my PIDs setup:


    To get a good result, I have finely tuned the THROTTLE RATE, which seems the most important things to tune for avoiding some fast up/down climb during the ALT_HOLD mode...


    Regards, Jean-Louis

  • like your copter, great build log thanks

  • Developer

    BE CAREFULL with the ALT_HOLD with No Wind condition... When I have tested previously the ALT_HOLD this was in windy conditions (> 20 Km/h), so the ALT_HOLD and LOITER seemed OK. But, I have done new tests without wind and the ALT_HOLD was very very difficult to tune correctly. So, please, dont use the ALT_Hold with my current PID setup above without wind... I need to do further tests and find the good tuning...

    Regards, Jean-Louis

  • Developer

    Yes I fully agree, higher the voltage of the Lipo better is the efficiency. 4S is better than 3S Lipo. I use 6S Lipo to lift off my big E-glider.

    Regards, Jean-Louis

  • I'm flying a 3DR frame with stock motors and 10" carbon reinforced props that I just put on yesterday. They are so much better than the plastic ones. It is much more stable and responsive and less noisy and I think creates less vibration.


    I'm using a castle 10A BEC and prefer to use a 5000 nanotech 4S. I like the extra voltage for getting quick out of situations. After flying a lot with 4S, I find the 3S feels very weak. The frame is heavier than yours I suspect and the battery is probably twice the weight and I get 16 minutes before my battery warning beeps which is about 15V.


    I plan to add a gopro with pan/roll and will lower the battery mAh to keep the weight the same. Maybe 30004S.



  • Distributor

    Yeah having a 2x bigger battery does not always equate to having 2x more endurance.


    Otherwise nice work with your arducopter flight.  Do you have any videos?

  • Developer

    Hello John,

    I have connected to the 12V PDB, a Lipo battery warning LBW (see the photo below). I have decided to stop flying when the LBW begins to blink (for safety reason and avoiding the deadly flip at low voltage), after a 8 min flight there is about 20% in the Lipo battery. So, with the 3S Nano Tech 2200 mAh the max flight time is about 10 min. 3692307936?profile=original

    May be that your 4000 mAh Lipo has a higher internal resistance than the Nano Tech battery. So the power drops more quickly. Another reason is that your 4000 mAh Lipo is heavier than the 2200 mAh Lipo so you need more power to lift your quadcopter.

    Regards, Jean-Louis

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