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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motors spinning (slowly) when armed is the default in RC5. 



I think I had to go a little higher than 100 before my motors started spinning. Something like 130-150 maybe?

I'll try some new values.  Thanks Detlef.

The check is simple. Unplug the external compass, rotate your frame so it faces some random direction towards South, plug the LiPo and connect MP. If your HUD reports North ( 0 degrees ) then the trace for onboard mag was properly cut.

On my bent and battered 2.0 the yellow led stays off. On the 2.5 it's on.

I was a little baffled at first, but it works OK so I overlooked the issue.

Hey Randy!
I am a novice in the subject, but has already got me Dji F450 and F550. I have a problem with the F550. It takes off in full speed to right after a few seconds. I've tried everything, but did not succeed. Could you be so kind and look at my logs.
Dji F550
Apm 2.5
Ecs 30a


This isn't a firmware update, it is a beta release. Even if this was an official release, it probably isn't worth doing an erase because most people don't use acro. Even in this case David had plenty of time to switch in an out of acro 3 times before a mechanical issue took the copter down.

The dev's hate seeing avoidable crashes! However, we have to be reasonable about when we ask the community to erase an re setup their system.

Well, in this case I had been testing out a new lighter motor mounting method recently, and I'm guessing that may be what caused the problem; perhaps the heavy vibrations loosened a screw or two. It's hard to tell after the crash, as there are plenty of loose and bent screws resulting from the crash, but that's my first guess anyway. On closer inspection, some of these screws I got at the Chinese hardware store seem to have major issues with the threads. Some of them may be able to just pop out if a bit of force is applied. Thread locker doesn't help much if the threads are bad to begin with!

I'm actually glad this happened in front of me, on the grass, instead of on a later flight, probably a couple km away in the mountains doing FPV, or over water.

So thanks Leonard, this parameter error potentially saved me from much greater loss down the road!

How did you go back to 1.2.84? Where did u find the link to download it?
Thanks Marc.

Marc, MP 1.2.86 is out and that works again concerning the connection problems.

In addition, you can always visit this link for previous versions:


     This is all during Loiter mode?  The problem with trying to use the copter's lean angle vs the stick angles during Loiter is just that in a heavy wind the copter will also lean over a lot even though the pilot's sticks are in the middle.  I actually think the Glitch protection method we have is working ok, in Dragu's logs above the actual detection of the glitch seems to be working pretty well, it's the incorrect version of LAND that it tries to use which is the problem.

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