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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Here it is. Don't have a picture as the compass was removed by Mother earth upon impact. I have no confididence it was correctly oriented. I do have a tlog from my only other test flight which I have attached below. *****This Tlog is NOT from the crash******it is from a series of short flights. Only the last one(past about 70%) was outdoors.


Hi, has anyone idea how to fully remap channels without changing mode in radio ?

I have JR radio and FRsky. I'm using PPM.

Bill, Do you think I should post this as a separate post in the main part of the forum so it gets more eyes on it?


You can change them in the RCMAP_parameters here is a page with info


SimonK-ized escs tend to have problems with 24-pole motors, like the MT4008. I got rid of desync issues on my F-20 / AX-4008Q combo by desoldering the capacitors from the back-emf lines, but it seems to only work for low-power outrunners. The BlueSeries 40A / Tarot 4114 combo would start behaving erraticly around 65% throttle, so I switched to SiLabs-based Turnigy K-force 40A running BlHeli.

I used the SiLabs Toolstick to reprogram them, but you'll find software to turn any Arduino board into a SiLabs programmer. For giggles and laughs one can use an APM 2.5 board as temporary SiLabs programmer :) 

I used pre-flashed unbranded 30A ESCs on my quad and never had an issue with the MT4008-12. I think the later versions of simonK claim to have that issue fixed.

I dont want to start flashing my t-motor 30A opto pro unless these are problems. I believe my ESCs are the same as hobbywing platinum pro ESCs, for which there is a USB firmware flasher available. Could make life a little easier but not sure it would like the BLheli going through it.

Actually getting power to 8 ESCs is no small task. I didnt want to solder them together so have just 'printed' a 4 way distribution box.

See it fitted here.

> How about you actually watch the video [...] Does it look like its flying in an unexpected manner??

Yes! As you said yourself: "When I put it in loiter it started to dive. Why did it do that?" That sounds unexpected to me. If it isn't, why are you asking about it?

> Do you think I would really fly over 900' high if I didn't have control over it??

You were already flying at 900' when you temporarily lost control.

>Do you think I would fly that close to my family if I didn't have control over it??

You did - but to James point, who in thier right mind would fly that close to anyone, never mind a small child even with a perfectly functioning craft? Things can and do go wrong at the least expected times.

> Are you just ignorant?

That comment speaks for itself.

Hi Randy,

For GPS positional glitches, could these be detected by comparing each position update to the last known good position, and rejecting any that indicate a lateral (or vertical!) movement greater than a defined speed in m/s, (or a jump to another part of the planet!) ?

Of course complete loss of GPS is another question entirely.


Really cool Vince. Gustav also made a similar thing recently by sticking 2 PCB strips 1/2" x 2" back to back. (We are not so lucky to have a 3d printer-YET)

The 2 PCB's fit perfectly between the pins of the XT60 connectors, so you can make a PDB REALLY easy. I will see if I can convince Gustav to post a picture later today.

I really like the "mountability" of your one. Do you just plug normal bullet connectors from the esc's in there?

Definitely Frank, easier to read that way

Something Like this

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