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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What kind of ESC are you powering those 4822s from !? The reason I'm asking is that twenty-something pole outrunners have sync problems when fed from Atmega8-based ESCs running SimonK code. And since sync problems do happen beginning at around 65% throttle (personal experience) and the visible effect is a harsh increase in vibrations (I rebalanced all my props a couple of times in frustration) it may lead to wobbly behaviour in Stabilize and probably more trouble in tuning Alt-Hold and Loiter.

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But I need to fully remap channels, also i will need to swap 5 a 7 channel.

And I donąt see RCMAP.

Anyone ?

Hi Wessie, yes the ESCs plug straight in - check the link for pics of that.

You know when you have built something and wish you had done it differently, well I should have gone straight into that box with the wires. No real need for a XT60 at that point.

Also I have some XT90s - yes 90 to solder onto 10AWG wire for the main bus they melt before the solder runs so I have removed the brass bits and am using them as 'bullet' types - they are 5.5mm.

Can I upgrade the PPM encoder on my apm 1.4 or is it only for apm 2.5?

Posted in Main Arducopter 3 forum

Never have wifi enabled on camera if using 2.4g radio.  wifi is 2.4g and will saturate your rx and cause very short range and loss of rc signal.  probably what caused your RTL via failsafe.

Yes it is here

Remember Copter & Plane have different PPM encoders for APM1

That's so obvious now that you say it, and yet it never even occurred to me! Thank goodness I'm on FrSky ACCST - at least it saved me from myself - won't make that mistake again. Shame, as it made configuring and starting recording while attached to a gimbal a breeze.

Thank you for pointing this out!

Additionally, I have noticed that the GoPro Wifi makes a whole bunch of Sat's disappear. Less sat's => possible jumping of location => possible hard banks and unexpected behavior by the UAV.



This is a strange behavior as well. When I got my first GoPro2, I was worried about it. I was using DJI Naza platform at the time and I had many users reported that as soon as their GoPros got turned on, the Naza would lose satellite lock.

I bought my GoPro2 and tested this nervously. Nothing happened. Then I bought another GoPro2 and it didn't give me any problem either.

This year I got a GoPro3 (Black) and that also works fine.

I never used Gopro equipment next to APM yet to tell you first hand experience, but I doubt GoPro will interfere with APM. 

Though I was told that GoPro cameras emit RF while in recording mode. Not sure why...


You said you were in Loiter when it crashed, but looking to graphs below I did see ThrottleIn as deliberately going down (like your input) and also altitude following the throttle input. 

Hope someone find more details.

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