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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I really like it. Felicitari.

Hi Josh,

A video and the log of the flight with motor logging turned on would be great. I just checked the code and confirmed that if the copter is PERFECTLY level then the throttle doesn't change. The problem is I doubt it is perfectly level so you will generally see a slight change in throttle setting.

There could always be something else though. But with the logs I see exactly what angle boost is and if the basic throttle setting is changed. So even if you just send me a log of a flight where you do this I can have a look to make sure it is just because it isn't perfectly level.

Chat soon,


Alright Leonard, here is the video:

Also attached is the .log from that run.


hye!could anyone help me how to make the hex reroute again after it receive new GPS coordinate during it is flying following the predetermine coordinates.example is, let say you been given 5 gps coordinate, 1, 2 ,3, 4, 5.when the hex fly when it reach point 2, then you enter new coordinate point let say between point 3 and 4.let say we name the point as 3.5.after the point 3,5, i want it back to point 4 and continue to point 5.i hope all of you understand.could you help me what should i do?do i need to add something at the arducopter sourcecode?thank you!  

Strange indeed, you made me double check on that, but mine will definitely will not arm in stabilize mode unless hdop is <2 (and I like it that way).

Well, this isn't caused by the throttle setting. The throttle doesn't move as you change between the two. Also there are no I terms reset in any of the controllers so it isn't that.

The only thing that changes is the way the error terms on roll, pitch, and yaw are handled. So what I suspect is happening is as the ACRO yaw angle error is set to zero, this can cause an angle change and the non-linearity of the motors can cause the copter to rise or fall. In this case fall.

So my interpretation of this is that we could set the initial conditions of ACRO better to remove this. We are working through a clean up of the control code and this will be easier to do afterwards. So we will have to look at it again then.

Nice catch and thank you!!

Me too, i also like to know if it is possible to set a ROI so the copter is yawing to this direction while flying around with stick input.

Thanks Leonard, 

I was hoping you could expand on this statement:

So what I suspect is happening is as the ACRO yaw angle error is set to zero, this can cause an angle change and the non-linearity of the motors can cause the copter to rise or fall. In this case fall.

Are you suggesting I've done something mechanically, or am a victim of something mechanically, that I can possibly correct for without changes to the code?  Maybe I just read too much in to what you're saying, but if I can make this better on my side somehow, I'm all ears!  Do you think this is a tuning issue that I can sort out through fine tuning roll/pitch/yaw pids?

FWIW, and mildly off topic, this ship uses the new Afro ESCs that I intend to switch over to I2C connectivity once I have a PIXHAWK to test with.  I doubt I'll do it day 1 of getting the flight controller, but it is a personal testing goal and I'm wondering if the code will be in a place to account for that.. do you think it would help in cases like this one?

could you guys look at my log in this thread and let me know if anything major stands out .

I have had the same quad drop at the same point during the auto-tune routine 2 days in a row and the pile of destroyed motors and carbon fibre is growing. Right after the roll portion is done and the pitch test begins it like a switch is flipped and the quad just falls to the ground.

Randy may have pinpointed the problem with a bad file but at $200-300 a crash of a once rock solid 800mm quad I would like to know if anything in my logs leap out as a problem. Thanks


I didn't want to further clutter this thread, so I opened another thread for my problem. I'd appreciate if you have a look and adivse:




ROI has been broken as long as I can remember, and it doesn't appear anyone has fixed it yet:

I personally like the feel of the new acro mode... now it feels similar to my Harakiri rig (says a lot). I like a linear response. If you guys want to add accelleration to the mix I'm willing to try, but it has to be a parameter that can be zeroed out.

Yeah if there is any coupling in acro mode, I figure it's got to be a mechanical problem. As much as I'd like to develop a "repeatable ideal flying quad", I think in the real world that is impossible. Fortunately my thumbs have been trained to pick up on those subtleties quickly, but they all "feel" different to me no matter what. Also, I like the variety, LOL. :D

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