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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Andre Im in the same boat as you and haven't flown for 3 months since I broke my leg.  I know most of the setup is ok and the same. I think the APM1 having a few different types of components isnt as sensitive to the vibration issue the APM2 board was having.  I recall asking this ages ago, but cant remember now the exact reply. Ill trawl back and see if I can find it.

John my quad flew perfectly on the 3.0.1 release candidates but then when the actual release came out I immediately started having alt_hold issues...

As long as RLT works im good.  Only time i really use loiter is when my goggle fog up and im cleaning them off.  The frame has vibration dampers between the plates to keep the vibrations away.  Great little frame.


Another question.  How do i get it to move faster in rtl.  It moves really slow to its destination when in rtl.

some discussion on the APM1 on this link on page 76 for 3.0 Not sure how much has been fixed since then for the loiter


Could you have a quick look at my logs (page 153) whereby I have experienced two crashes now after I changed from plastic to carbon props? It happens on the descend during RTL: quad starts to wobble, gets worse and crashes.

Any insight would be appreciated.


Randy, If I stop yawing, it stops circling and runs back to the circle's center. No TBE at all.

My main concern is that I didn't quite get the V shape correctly and it mis-behaves because of wrong motor placement related to the APM. I've built an "alpha" and "beta" frame and fiddled with arm angles until I could both get the propeller arcs out of the GoPro and the CG in the center of the frame.

Is there a way to see where would AC expect the motors to be ?


Hi, nice to hearing that you have everithing fine.Pls can you place here a photo of your hex and some technical data?Thanx Ondra

Hello! my APM1 onboard ArduCopter 2.7.3 connecting ublox GPS with 3DR-Ublox firmware update, then start APM1 on and connected to the Mission Planner, HUD display NO GPS! at this time, then changed to CLI mode, testing the GPS at all, is this why? thank you!


     So you've tried to upgrade the firmware on the ublox and now the APM1 reports "no gps"?  Sounds like the firmware upgrade has changed the messages that the GPS uses to report to the APM or maybe the GPS simply isn't working anymore.  Either of those would cause the symptoms you describe.  Unfortunately I have never successfully upgrade a GPS's firmware ... I've unsuccessfully upgraded a GPS's firmware once and had the same symptoms as you.  That GPS is now in a box and someday I hope to go back and try to sort out it's configuration so it works again.  The default GPS settings are here in case that's helpful.

Ah, ok.  Well circling while yawing is expected.  We can perhaps fix that when for the px4/pixhawk where we can run the nav controller much faster.

I'm really not sure of the angles.  The motor matrix code is here for the quad and there's this V shape which has the back arms closer together.  I'm not sure what the angles should be though.

Hi guys, need your help. The hexa that I mounted for a friend with 3.0.1 firmware was flying great until now. A few days a go the hexa stopped all the motors for 1 or 2 seconds and after that he recovered from fall. We don't know why this happened. My friend doesn't send me the logs yet, but I have a crappy video that you can see at 3:06 what I'm describing. The rádio is a Turnigy 9x without failsafe, I don't know if it was a radio signal fail or a problem in the APM.

Here is the video, I hope that you can help. 

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