ArduCopter 3.0.1 has been released and is now available in the Mission Planner,, GitHub and the new Downloads Area.

Warning #1: Compass calibration and reducing interference is far more important than with 2.9.1b

Warning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode.  You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).

Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).

Warning #4: loiter turns does not maintain altitude.  This bug will be fixed in AC-3.0.2.

Warning #5: This release has only been lightly tested on Traditional Helicopters.

Improvements over 2.9.1b include:

  • Inertial Navigation for Loiter and Auto meaning much more accurate control (Randy,Leonard,JonathanC)
  • 3D navigation controller follows straight lines in all dimensions between waypoints (Leonard,Randy)

         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.  (Randy,JonathanC) (Set-up video here)
  • Safety improvements:
    • simple Tin Can shaped Geo Fence
    • pre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero).  (video description here)
    • 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 (Randy,Leonard)
  • SONAR_GAIN parameter added to allow better tuning of sonar surface tracking
  • CH8 auxiliary switch (same features as CH7)
  • works on PX4 (some minor features still not available) (Tridge,PatH)

How to upgrade:

1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)

2. Click on the MissionPlanner's Hardware, Install Firmware screen.  The version numbers should appear as "ArduCopter-3.0.1", then click the appropriate frame icon and it should upgrade as per usual.

3. Reduce the Loiter and Alt Hold PIDs if you have modified them from the defaults.  The modified PID values for the 3DR frame can be seen in the image below.

Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.

4. Although not directly related to this release, if you purchased an APM prior to March of 2013, update your PPM encoder to the latest firmware (instructions here).

5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.

Numerous How-To videos are available:

Special Thanks to MarcoDaveC and the large number of testers on the pre-release thread who put their copters at risk during the extended testing period.  Some of their videos can be found hereherehereherehere and here.  Thanks also to MichaelO for the MP changes required for this release.

All feedback welcome.  Please put your questions, comments (good and bad!) below.

Views: 375180

Reply to This

Replies to This Discussion

Well done!

It flies really well now, however there are some whooper noticeable when reduce throttle. 

It times to catch up with openpilot in this particular fly characteristic. CC3D board fly well when you drop throttle even to 0. The controller board still control some of the motor to stabilize the multirotor.

congratz randy for release, finally.. it's been long run but now it's here.


I have an Jdrones Hexacopter with apm 2.5, when i upgrade firmware to 3.0.1 it seems that a lot of parameters have changed according to this post if you compared with the parameters published in jdrones for arducopter 2.6 with 880 motors. Any change that you publish some update on the parameters.  Tried to fly a simple flight plan consisting of take off and landing and with a little wind and the hexacopter started to woobling and the flipped and crashed

here is a little video of what happened, any help is appreciated!


oops , no video, here is the link

Saludos Carlos. Soy de Valencia Venezuela. Tengo 2 años de experiencia con APM.  Resolviste tu problema?.  Segun tu video parece que tu hexa volcó porque no estabiliza con potencia. Los parametros Stabilize P, D, I, estan un poco fuera de rango y no logra un control efectivo, osea, tu control PID es lento y no compensa la velocidad de tus motores. Cuentame si resolviste a esta fecha. Un consejo, aplica "AutoTrim", despues del "Autotuning". 

Very Well, I still can't test it. Because, Thailand have a raining everyday. But,If have without rain I'll test it and share video to our for look.

What is the expected magfield value for APM1?  I still need to disable the pre-arm checks as my magfield is around 177/178...


     ah darn.  I made it wider so it's now 192 ~ 907 for the APM1 but that's still apparently not quite enough.  It seems like for the APM1 the field can be either 330 or 550 depending upon whether you're using the 5843 or 5883.  Sorry about that, I'll sort it out for 3.0.2 (or 3.1.0 if we're lucky enough to get away without a 3.0.2)

For some reason, my magfield is 120-130 when sitting on the ground.  Because of this, I have to disable the prearm checks..  But when I get up in the air, the magfield increases to the high 200's.

In the attached graph, you can see when I took off, the magfield started varying.  Note the spike at the end of the flight.  I managed to tip my hex over on it's back when landing and with it upside down it shot up to almost 600.


"For some reason, my magfield is 120-130 when sitting on the ground.  Because of this, I have to disable the prearm checks.. "

Why do you have to disable the pre-arm checks due to magnetic field. Could you highlight on that for me?



No worries it's not a train smash.  I think the lowest I've seen it go to was about 170...


DIY Drones Monthly

Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2016   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service