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.

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thx for these links. The last three links give a general information but that is better than nothing.

Hi Randy,

Do you plan, for a future release, to handle GPS Glitch, for exemple revert temporarily from LOITER to ALT Hold when a GPS Glitch occur ?


     We're certainly planning to tighten up on the GPS position checks so that we don't allow people to switch into auto modes with a bad GPS hdop value.  ...and longer term we're definitely planning some more exotic fixes.  Perhaps throwing away GPS values that we know can't be correct.  This is the most serious reliability problem we have i think.

Bonjour Randy

Félicitations pour tout ce travail

Au sujet verrouillage GPS,ne serait-ce pas plus simple de mettre RTH  automatique( Home devant être défini obligatoirement avant le vol) dès la perte du signal dans les modes utilisant la fonctions gps ?

bonne continuation



Without GPS signal it is not possible to use RTL mode. Even if home position is known, if you don't know where you are you cannot come back to home.


Good post...I've got to remember that phrase.

RTH when a GPS glitch occur, that's fun :)

Are you trying to ged rid of your drone ?

i think you are right randy,the next step should be to increase reliability with gps features

The next step is a platform switch, actually... :)

We get to keep the props, motors, ESCs, frames, the swelled LiPo packs, the GPS units, RXes, telemetry transceivers and stuff, even the moongel pads can be reused.

IIRC, it was the 2.8.1 upgrade from 2.8.0 that freed 7 bytes of available RAM. At the same time that I've upgraded my desktop's RAM from 4 to 8 gigabytes.

I know it takes a real PRO to rewrite that piece of code, and it's unforgiving for crappy coders, and relaxing both the computing power and available resources will allow careless code-writing, but once a bottleneck is reached, I believe all parties involved shall take notice and step ahead.

Anything planned on implementing GPS Glitch protection on Arduplane?
I mean poor mans Gps glitch protection (16 Bit Boards), as it is already available for 32 Bit boards with the EKF.

Finally got the quad back together.  Uploaded the newest firmware.  Couldnt get the damn thing off the ground more than a foot.  Motors would randomly stop and it woudl crash or it would just go nuts and crash (usualy the front left motor so i replaced it thinking it was bad).  Changed the firmware back to 2.9 and it flys fine.  Why!?

Did you go through all of the calibration and setup shown in the videos at the top of this post?


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