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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In missions it heads correctly from waypoint to waypoint but if the next point is a loiter it will not point to it, just flies there and loiters in whatever direction it was in.
All previous versions would point to a loiter point before going there.

Im wondering why if GPS signal is lost during an AUTO / GUIDED state, the 'copter is switched to LAND instead of flying the "home heading" direction dictated by the compass.

In GUIDED you can see the GPS state change in Mission/Droid Planner, and you can take over controls. In AUTO if you've loaded the mission by cable or BT there's a fair chance of having your bird perform a near flyby to alert you of the problem, and with 3DRadios you have both more time to react and maybe to wait for the 'copter to come closer, and in the case of going beyond its maximum range, the chance to reestablish contact and take over to manual control.


Otherwise, 3.0.1-related, I've had only one incident in 40+ flights, when at takeoff I've had to use full back-right deflection on the Pitch/Roll stick to keep it hovering in place then descending straight for a land. Replugging the LiPo got rid of the issue, and my APM 2.0 says "No dataflash inserted" and had no telemetry so no logs for you guys to study.

do you know why it s so hard to make translation during loiter?i need to put my stick at their end to have a low translation?does it normal?

Ok, found it. MAVLink MSG #162 describes the status of the fence :-) I'm using my own app MAVPilot that runs on a iPhone.


On the PX4 with the external compass from 3dr, should the jumper on the compass be set to 5v?  It looks like 5v to me but I want to make sure.

the wiki does not have this info and I think should be added.



It's 5V see middle far right of the schematic

Could you please confirm the tuning parameters for the stock 3dr quad running 3.0.1 , mine even with 13 satellites , is not even close to stable on loiter mode , alt.hold works fine .

Is this latest version which parameter should I tune first ?

Brushless gimbal is the way to go, if you don't want to mess around with buying parts and want a complete unit that works right out of the box at a fair price: 

I've already got the gimbal and servos. For what I want to do, servo gimbal is fine but later I would like to try brushless. My question was about the APM and if it's up to the job of controlling a servo gimbal. Is anyone using it or any serious work?

I might just try that one on another quad I have but I still need a controller for my octo that carries a Nex5n.


     Someone else asked that same question just yesterday and created this issue for it.  I've put some comments in there about the difficulties of this solution.  it's not impossible but it's not easy to have it work well.

Interesting, is there also a ChinaDrones store yet, or any plan for one? I know there's a flood of 3DR clone stuff available here in China, but if I need any reliable, up-to-date hardware I'm pretty much stuck with ordering from Thailand, or waiting until I make a trip back to the states.

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