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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3.0.0 was the previous version I used and all worked - except for the loiter wobbles.  I loaded it from the MP back then but I dont see it on any of the selection screens anymore and I cant find it on any of the download websites.

Any chance you have a copy of it still? I can upload it via ArduIno then...

Hi Randy,

Thank you for taking a look at this, on the battery failsafe, when I charged up my battery I had used on this flight, my charger put back 4110mAh out of 5000mAh, so it's a little over 80%(I usually try to use no more than 80%). I know that I was around 120m up when I hit the RTL switch, but the loss of control wasn't until it was 8~10ft off the ground(I did switch to stabilize mode, but I didn't toggle like I should have at first until after it was on the ground). I have two of the same 3s 5000mAh packs and both are newer(around 7-8 cycles on them now). I'm trying to remember if I had re-calibrated the 3dr power module when I got the new packs, and being I am now not certain I think I am going to do that now.

I just checked my apm's settings and battery failsafe is disabled? Is there another failsafe built-in that I can't see? I thought it was enabled, but after re-calibrating the 3dr pm I will enable it.

I saw that error and just about to go looking for the list of codes :) 

On vibrations I am going to get that lower today with some duobro foam which should help. Re on the logging I will be turning some of those things off as my quad is alomost set.

Thank you again for your help



     As we push out each release (or release candidate) we tag it in github.  The full list is here..but shockingly it seems after all that I didn't tag AC-3.0.0 so here is a link to my dropbox with it.

I just applied the Mu Metal on my tricopter as recommended from this link, and it made a whole lot of difference. It brought down the compassmot rate of my tricopter from 58% to 31%.


Although it is quite expensive for a sheet of 8"x11", Mu Metal sheet is good stuff.


It does what it is supposed to.


Hey David,

     Although it may appear to be disarming, it's actually more likely that your ESCs low voltage cut-off is being invoked.  You are running your batteries far too low.  It looks like you're starting at 12.5V (good) but getting down to 9.7V by the end.  It's possible that running the batteries this low may cause damage to the Lipos.

...and going the other way we can see that you have to keep raising your throttle higher and higher as the flight proceeds.  It starts at 700 (which actually means your copter is underpowered so you should get larger motors or a more powerful battery (i.e. 4S)). but by the end it's about 850.

     Just to prove that it's not an in-air disarm we can see the full list of events in the logs and there's just a single arm (#10) followed by a bunch of "auto armed" (#15).  No disarms which would be #11.

Hi Randy,

Where can I find all these logs that you have here?

I have this problem today and I cant seem to find any answers. Please help.

Kind regards


Randy,Sorry!My english is still poor.When I flight at Loiter or ALT hold mode,The quadcopter is up and down convulsion(Fast twitch).Can you help me?Any insight as to what could be the problem would be greatful.. Thanks ! Attachments:


I have some questions on these parameters. I set WPNAV_ACCEL to 1 from a suggestion earlier in this thread or the other one but it seems too low. Today I tested a RTL and it went into RTL but wouldn't move. This must be the ACCEL term but what is the default for it?

And is the default for loiter speed 200?

I've had some situations where I will enter loiter before I have a good fix. I'm right on top of the stable switch because what usually happens it does a strong tilt and starts to move fast for the wrong GPS fix. If I hover around for another 30 seconds and try again then it's ok. The reason I ask is because even with these apparently slow settings why would it go so fast toward a wrong gps fix? I never let it go but it seems like it would be moving really fast. This is what I would like to slow down but I also need to get the RTL working.

Would be great if the defaults for the version you are using were available on this screen also as another column. It's helpful to see the settings range but it's more helpful to know how far we are from the default so we can pinpoint possible problems quicker. Is there a list of all the default values or at least the important ones for 3.0.1?

Thanks, Randy! Today i will try this more times.

I this jumps up/down on sensor  normal or BAD ?

copter on floor , connected USB port

I believe the default for WPNAV_ACCEL is 100 (ie. 1 metre/s/s).

It was around the 3100 mark where it dropped out from about 4ft in the air luckily I was testing low to the ground when it happened. I did have the battery fully charged and I take careful consideration on the batteries when I fly to not go below 10.2 which is where my alarm is set and I always use the balance charge on (Turnigy 3s 3300mahs). Could the esc also being going bad as another idea as I am going to order a couple of esc's. When I bought this it was the RTF from 3d robotics with the 850kv motors and 10x4.7 props. I am only carrying a gopro hero 2 on it and yes I am going to order the 880kv with 11x4,7 props and see if that makes a difference. I did have another incident where I had full battery power and all of sudden is just drops out of the air and I am attaching the logs to it as well.


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