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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Happy that ResetToArmedYaw is already there. I'll try them later.

Yes, can someone make a video tutorial in autotuning procedure?

So what's going is we consolidated the battery monitor code into a library for copter, plane and rover.  The good thing is it makes code maintenance easier but the bad news is it lead to some parameter names changing.  Michael O will sort out the mission planner's screen ahead of the release but for now, it can only be adjusted using the full parameter list.  A bit annoying sorry!

If you're just uploading the -rc3 firmware the old parameters should be copied over to the new ones so if the battery monitor was already set up then it should continue to work.  If you're just setting up the battery monitor for the first time (i.e. perhaps you've reset the parameters after loading the firmware) then you'll need to go into the full parameter list.  The slight improvement here is you should be able to find all the relevant parameters more easily 'cuz they all start with BATT_ or FS_BATT now.

Thanks, Randy.  I will give a try tomorrow..

Here's the log wessie


Can you put please the 3.1rc3 to download with compiled code for autotune, having some difficulitties ... and  like to try it!


This is cool and I think useful for noob like me.

Battery monitor error solved.

I just updated my MP to 1.2.81 build 1.1.5031.12842.

Yes agree 100% need it now in mission planner,please Randy and Dev team,thank youy,Marty

Randy been away from the forum since before April due to other commitments plus taking holidays.  I see the version of AC has not changed in a long while.  Are there any updates in the pipeline or is AC3.0.1 the final release for APM2?

Hi Randy,

I'll have to check. What logs do you need enabled?

I really believe there is a problem with motor control in altitude holding modes. Agressive thrust variations. Did yoyu have a look at Marcos video. I see even more agressive motor variations. Not even reducing all throttle parameters to lowest possible values (with terrible althold performance) gets rid of the oscillations. My bet is we need some smoothing for the super responsive SimonK ESC's for the z-axis.



Hi Michael,

If you have a Hexa try with Dataflashlog setting: disable all.

After this I had no more such Spikes. (Also in Pitch and Roll Axis)

My be AMP is to busy with more than 4 Motors and all the Logs (Dataflash an Teleterie)

As I could read People with Quadros are happy.


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