a Virtual Robotix Network Team

VR Brain 4.5 and Arducopter32 rev 3.0rc6 ready for beta testing

This is a pre-beta testing firmware.

It is suggested that you test it only if you know what you are doing and are able to take the risks on a breifly tested firmware.

This is a cloned version of the Arducopter 3.0 release. It is 1:1 with it’s original firmware. So please refer to the Arducopter site and Diydrones forum  for more information on the software new functionalities:

  • Inertial Navigation for Loiter and Auto meaning much more accurate control
  • 3D navigation controller follows straight lines in all dimensions between waypoints
  • WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
  • “compassmot” to compensate for interference on compass from the pdb, motors, ESCs and battery
  • pre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero)
  • GPS failsafe – switches to LAND if GPS is lost for 5 seconds
  • stability patch improvements to stop rapid climbs in very overpowered or overtuned copters
  • Circle mode improvements including “panorama” when CIRCLE_RADIUS set to zero

These are the release notes specific for VRBRAIN. Please read carefully: 

  • The External GPS port and the Telemetry port have been swapped. So please invert the two ports to have both working again.
  • This firmware is only for standard PPM radios. Previous problems with Futaba and FRsky should have been resolved, please report any problems.
  • You will loose all previous settings, so please backup your parameters if you need to go back to
  • You need to make all pre-flight calibration routines otherwise copter will not arm. So proceed with:
    • Radio calibration through Mission Planner
    • Accel calibration via Terminal (at the moment via mission planner is not working)
    • Compass calibration via Mission Planner
  • Make extensive pre-flight checks before fliying

At the moment only QUAD and HEXA frames will be released, so please for any questions or suggestion refer to e.castelnuovo [AT]

RC Radio compatibility list

All previous radio problems SHOULD be resolved, but as we don’t have all you should report any issues.

Before using RC radio verify in Mission Planner planner if there is any latency > 1 second or bad Jittering.

If there is don’t fly!

In the preflight check , control the radio rensponse also with already tested radio.

Software download links

Standard PPM with External GPS (UBLOX):

Standard PPM with Internal GPS (MEDIATEK):

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Comment by Guillaume Helle on June 27, 2013 at 1:37pm

Hello Roberto,

where are the release notes for VR Brain 4.5?

Comment by Charles lakins on June 22, 2013 at 12:02am

Thats awesome, Im using the older Xbee 900 pro modules and the 3dr adapters on mine

I was using the apc220 on my legacy board

The problem I have been having with andrioid apps is my sony experia x10 is commonly not supported

Comment by Roberto Navoni on June 21, 2013 at 11:17pm

Yes the Software is compatible with 3DR Module and mavlink protocol so you can control apm  or vrbrain without problem ... before to release we prefer to doing a lot of test.


Comment by Charles lakins on June 21, 2013 at 10:42pm

Thanks I would also assume it to be compatable with 3dr hardware apm using mavlink also?

Comment by Roberto Navoni on June 21, 2013 at 10:31pm

Hi Charles,

it's VR Radio 3.0 ... on that software we are working progress not yet available on the Google Play ,could be available in a week or two for beta tester.

That's app is ok for telemetry but you can also use virtual stick for control the drone by a ppm connection or mavlink connection ,too :)

Comment by Charles lakins on June 21, 2013 at 10:28pm

Any info on tha andriod app?


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