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've made another test with autotune, but the new result wasn't as good as the previous one, horizon was wobbling when flying straight. Maybe because when I was autotuning, I needed to reposition my copter some more times.
One strange thing (or maybe not), ROLL/PITCH rate PID are differents, but STAB P is the same for ROLL/PITCH, so I was wondering why this one is not also different ?
I tried also to disable CLI (#define CLI_ENABLED DISABLED), but after you can't download any logs. Is it possible, when CLI is disabled and LOGGING enabled, to have a minimum of CLI to allow log's downloading ?


There is a parameter in the code that I want to make available for exactly this reason.

Basically reduce Rate_P until you have a traideoff between responsiveness and safety that you are happy with.

Don't worry, this is just he first Autotune. We will probably do all the control loops as we get time. But we will get this one right first.

Hi mate,

The results don't look too different, from what I can see there. But I don't expect them to be identical. The final value depends a little on the way the copter is moving through the air for those tests. Also, any change in cg or battery position will impact the results.

lol Craig

And to think I've been flying for weeks with this problem because I really couldn't imagine it was software related. Has anyone else reported this? I will be happy to do any testing to resolve it so send me the binary when you can.


I'll give them a whirl this evening after work.  Thanks again!


With a mixture of the Autotune and my own (saver) PIDs the hexa was in the air for 36 min and 30 sec. 29 min in Auto mode with 52 waypoints follows by 7 min in Loiter Mode. So I do not think that there is any difference worth mentioning.

I see, can we say the following statement in this case?

Acro_Trainer=0 results in very similar conditions as Acro_Trainer=1 and Acro_Ball_Pitch and Acro_Ball_Roll=0

I didn't include the Acro_Trainer=2 because there is bank angle limiting here.

Thanks for that Thorsten, this answers one question I had about the effects of Autotune. It is as expected, thankfully!

Thanks again for all your feedback. I will let you know how we go with the parameter that will let you increase the Stab_P.

Yeh, exactly.

Acro_Trainer=0 results in identical conditions as Acro_Trainer=1 and Acro_Ball_Pitch and Acro_Ball_Roll=0

Make sure you let us know how you like it and give us feedback.

Thanks :)

So funny and typical of them. I was flying a mini heli in the paddock once and the horse walked up and grabbed it by the tail in flight and walked away with it.


     I can't think of anything we changed that would cause that...

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