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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More, more, never before has a boy wanted more ... I know we're sounding greedy but I concur with those who desire the fence to have the capability of a floor and "bouncy" walls. And further, the ability to set the fence limits, or at least the radius, from the Tx while flying manually, to avoid having to guess (or measure), for example, the distance to a clump of model-eating trees; one would simply fly to within a reasonable distance of the trees and hit a "set" command on the Tx which would establish the fence radius from home. For those of us who live and fly in places where big open flying fields simply don't exist (coastal Northern California in our case here) this would be especially wonderful.  

The APM is completely covered with a 2" slab of grey foam. No way light is getting in there. Anytime I yaw in Alt Hold or Loiter it surges up. I'm guessing it's a yaw parameter I need to adjust but not sure which one or if that is even it.

First 3.0.1 has been pretty stable for me, your guys did a great job!

I have a stock 3DR quad with the 850kv motors and a 3S 5000mAh Lipo. Yesterday after upgrading form the beta version I was able to do about 6 different flights, including testing waypoints which were spot on. Loiter is rock solid as well. On my last flight as my quad was coming back and I was testing RTL for the 5th time, something strange happened, from what I think I see in the logs, it looks like maybe the battery was the issue? As it was descending and was about 8ft from the ground , suddenly it just dropped and I had no control at all, it hit the ground pretty hard(thank god for POOL NOODLES), no damage, but I couldn't even disarm my quad, the motors were still spinning, it was like the tx/rx went completely out. All I could do it wait and finally I was able to use the remote to disable the motors. If someone could take a look at the logs I would appreciate it.


Hi, managed to get my octo flying yesterday on this latest firmware.

Today ive just opened mission planner and it updated from .59 to .60 All ok so far.

Connected to the octo and now my hud looks like the picture! The octo is level on the floor.

Has my AMP 2.5 or mission planner done something funny?!

update: re installed .59 and the hud is still the same.

Any one have an idea why the hud is now displaying like this and what would happen if I tried to fly it?

I don't normally connect to mission planner when I go flying, so im not going to know if this happens again.

Both log files types are being produced for me with 3.0.1 and 1.2.60.

Alex I recommend you up date to Mission Planner 1.2.60

How to upgrade:

1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)


Well done!  Ill try get out on the weekend to test it

Try re-calibrating the accelerometer.

Thanks. Don't forget Leonard!

It is disabled.  You can set it on the Software - Failsafe page.

Gary is working to update the documentation here:

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