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ACM at the AVC (Jason Diydrones)


Image: 1st Run


AVC was great fun and even though I went for broke on the last run and lost my copter, it was well worth it. I learned a lot about copter navigation. The latest code includes all of the updates, which is being tested now by Jack Dunkle.


Run 1 went really well. In turn 1 you can see the copter overshot the waypoint. Crosstrack error pulled the copter back to the desired path and kept it from being blown into the building from the high winds. The sonar altitude hold was working really well. Later the wind would pick up and make the copter go higher than sonar, which made it susceptible to an altitude hold bug. More on that later...

Each waypoint was hit perfectly, even though the copter tended to go too fast (17mph) and overshoot. At Turn 4 the copter buzzed the crowd at about 6 feet. Thankfully everyone ducked. Then the copter went to position hold for 4 seconds to settle down before going to land. Unfortunately this area was really windy and the copter was blown towards a tree. I had to abort by popping the copter up by 50 feet.


At that point I thought I would try and finish the mission by landing in Auto. Unfortunately, I had set the mission to reset on entering Auto. It began to re-fly the mission at about 100ft now. It hit turn 1, then a gust of wind grabbed it on the way to turn 2. That wind was 50MPH.


70866588?profile=RESIZE_1024x1024I was able to recover the copter this time. But the next two runs were not so lucky.




Run 2 went bad quickly. The wind shifted and lifted the copter above sonar range almost immediately. The baro alt hold bug kept it from coming back down properly. The wind above the building was gusty and blew the copter to the front of the building. Then a loose battery fell out of the copter... Because the motors were now free spinning, it auto_rotated to an upright landing from > 100 ft. The landing gear - plastic heli skids were partially broken, but it was otherwise in perfect shape. I should've taken the hint and called it a day, but run three was my last chance to finish.


Run 3:

It looked identical to run 2, except the copter kept climbing and the high winds just swept it away.



Anyway, much learned and code updated. I am trying a rate limited version of waypoint navigation. The idea is that the copter will want to travel at a certain speed towards the waypoint. This enables it to fight high winds by flying steep angles. It will also make overruns more predictable.


Once these new updates are tested, I'll open up the code to a public beta.



Some photos posted by Mark Grennen:



Love this one:

70866773?profile=RESIZE_1024x1024Original post :


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Dear Friends,

after my last fly in stable mode i update the i2c libs for compass and barometer , now is better of older versions so i can upgrade main core loop to 800 hz instead of standard 200 hz .

Above the resutls of my first automatic flight , i'm very happy of this first result .. i start to use the performances of our Multipilo32 Arm Cortex M4 processors.

More Performances = More stability.



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Dear Friends,

this is the video of first flight of Multipilot32 that use  ArdupiratesNg32 rev. 2.01 firmware.

I ported to Multipilot the 8bit firmware , change all the library necessary to firmware and doing some small patch on original firmware.

At the moment i fly in stable mode + configuration with this PID (3.00 , 0.150 , 0.900)

As sensor i use Oilpan , in the firmware i don't yet activate GPS , BARO and Magnetometer , i doing some test but before to fly i need to optimize the i2c code and deactivate the debug functionality that degrade the speed of execution of code.


This is the official thread of pre flight check of ArdupiratesNG32 v 2.01

In the next day I update this section of discussion with some new tips and tricks



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Dear Friends,

today i upload last revision of ArducopterNG32 , I upload the code after my fly test doing tomorrow.

This is the video.

With this revision of code is possible to fly in acro e stable mode.

Today i'm doing my first outdoor test of ArmFox V4 firmware in basic configuration , I'm happy of the result , the quad is flying fine and  seems reliable, even if a revision is alpha code.

In this test i use standard component , don't professional part.

MP32 and Oilpan work fine togheter.

I use 4 Chineese standard 18 A PWM ESC buy on Giancod store at 6$

Standard Motor 900 kv

10 inch propeller.

Standard 6 channel analog reciver on 35 Mhz.

So this is an entry level configuration. 

Yesterday I spoke with Diego L. that are using only analog gyro and accelerometer connected directly to MP32 , That sensor normally is used on Aeroquad , but is the same that mount Oilpan , the only difference is that is connected by spi adc to MP32 instead on Diego configuration It is directly connected to analog input.

The MP32 analog input is better of avr analog because are at 12 bit . We notice that the configuration of analog is the same of oilpan. The resolution is the same.

The   video , is only a raw fly with some test for check relability.

I need to setup the PID on gyro , today during flying there was much raffic of wind .


This is the link to the code.


This is the tutorial for pre flight check :

You can use all your standard Diydrones accessories with MP32 for assemble your drone.

MultipilotP32  ( )   is available in the stock if you need more information send a mail to


MP32 is next revision of CPU for Arducopter project based on 32 Bit arm microprocessor with 72 mhz of clock and a lot of innovative hardware feature as 2 i2c one for sensor , can bus , 512 kbyte flash and 64 kbyte ram.  12 bit analog input for more info visit discussion forum on

Next step is testing advanced functionality on air : Gps hold ,altitude hold ecc


Some suggestions about my PID these is the standard available on Arducopter NG

P 4.0

I 0.150

D 1.20


I change also Stick_to_angle factor conversion for have more command available.

What do you think about ? In the next test i would put our VR ESC that use i2c bus and have 256 step of resolution this esc only 127 :( That's could be a problem for good fly ... :)





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Dear Friends ,

the 07/04 will doing a online webcast where we present last updates of Multipilot32 project.

The index of presentation are :

  • Improvment of IDE and library , new functionality and new lib , i2c lib is available and work !! , now we support all standard diydrones accessories:).
  • Ready to use bin Example for testing your MP32 : Introduce Sensor Lab.
  • Pre Flight Check with Arducopter NG 32 and Multipilot 32.
  • Introduce new release of IMU and a RTF concept board.

Standard Fly configuration :


This is the official link to join the event:

We're back in stock , so the board is available.

Link of offcial product page :

First Flight video with Arducopter NG 32 on ArmFox V.4.

Main Thread :

Status of the project you can found daily update :

Power Point Presentation of Official Multipilot32 presentation.

Getting started usefull information about the board , tools ,libary and firmware available for developing code on Multipilot32

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