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.

Views: 386033

Reply to This

Replies to This Discussion

I don't think either of these logs are from your crash.

Looking at your youtube video, the telemetry seems to suggest that the Arduflyer was still running and thought it was level. I am making a guess here but it looks like you lost your gyro chip or something. I haven't seen anything like this myself.

If you can get the flight logs it will make it easier to assess what happened.

If that OSD is driven from the APM it looks like it thinks its in a right roll so is compensating with left.

Is it possible the APM came loose?

Thank you for the observations!

I was checking the downloaded logs and can’t find any other logs from the same date. I was not very familiar with use of dataflash logs and now I am really mad with myself with the possibility of having lost it..The closest I could find are from the day before and day after the crash (I am uploading those also just in case). After that I have used the copter many times so its all overwritten by now.

The APM was not found loose after the crash. The day was calm with some wind gusts. When I noticed the copter starting to roll I have tried to correct it without any response, then I switched to RTL - no response, Stabilize - no response, RTL and crash. :-(

I have also suspected malfunctioning from gyro. I was on vacation and didn’t have a multimeter with me however, looking at the hwvoltage I have noted a variation between 4.4v to 4.2v. Knowing that the system should work with a minimum of 4.5v I suspected that it could have caused some strange behaviour.

I was supplying power to the output rail from one Turnigy HV SBEC 5A Switch Regulator set for 5v. The OSD was being powered by APM.

In order to increase the hwvoltage I have switched the SBEC supply from APM output rail to input rail. I noted then that hwvoltage increased to 4.5v limits. I have done other flights after that without any problem, however I have still not tried Auto mission again..

Any other suspect?


Yeh, voltage drop was what I was thinking.

I remember something about losing 0.5 V over the input diode so I think the 3dr power module outputs 5.5 V.

I am not the best person to ask about that though.

The specified MBR120VLSFT1G diode has a max forward voltage closer to 0.3V, but powering from the input rail bypasses that diode anyways. The 4.5V Fernando measured when connected to the input side seems suspiciously low to me. I'm not familiar with that particular bec, but it sounds like it is probably defective.

Fernando, have you checked the ouput voltage of that BEC with a meter? It's wise to check supply voltages first before hooking things up... especially on cheap BECs. ;)

I have just connected via USB and noted that voltage is strange. I will check it further. 

Thank you

Some results from voltage measurements:

Verified BEC supply 5,116V

JP1 connected. Made the voltage measurements on APM diode/fuse.


- BEC supply on input rail 5,106V with no accessories plugged (GPS, COMPASS, TELEMETRY)/ with accessories 5,086V.

- BEC supply on output rail 4,3V (observed constant variation between 3,2V and 4,4V) / without accessories nominal 4,6V.

- Noted that BEC under load supplies 5,08V

- Disconnected battery and powered APM via usb, observed 4,9V when the BEC is connected on output rail. Curiously when moved the BEC to input rail the APM voltage dropped to 4.3V.

It is strange that the voltage drop through the APM diode seems to be much more than the expected 0,3V.

I am almost certain that my power supply configuration contributed to the crash. However I am wondering why it didn’t happen in any of the several flights that I made before...

What about running a second GPS for reference? That should clean everything up and the referencing shouldn't be too hard to prog? Just a thought.. Cheers

Hi All.. Hoping for a little help with log files on RC5. All the info I can find relates to Windows and with iOS it all works quite differently. I am struggling to just simply navigate to view the info I am looking for? I am in the initial flight tuning stage of a new Pixhawk on a 950mm Hex and just starting to do a few hover flights etc to check my data in logs. It is not familiar when using the graph controls etc. and am hoping for a little guidance on how to select the right info from the logs and how to adjust 7 view. It's not as simple as grabbing a section to zoom etc? Any help would be great.. Below file is screen print of first hover and graph gyro x,y,z. The values look good, but I'm not sure with the new graph tools that i am viewing correctly? And... um.... What next?


Buona sera sono Francesco di Italia.
fastidio perche 'ho bisogno di un vostro grande gentilezza e Pablo Il mio sogno' "inventare un nuovo lavoro", fotografo, ma sono senza lavoro, e vorrei costruire farmi un Drone a otto lame per introdurre dove provare a lavorare con fotografi DRONE ..
Purtroppo ho pochi soldi e non posso permettersi di fare errori e che avrei avuto bisogno QUI, (se potete) Il vostro aiuto mi guida passo dopo passo con le immagini, o meglio credo in costruire il mio primo drone (io sono un radioamatore, quindi capisco un po 'di elettronica) e ho grande pazienza e l'artigianato, ma devo imparare da voi (se poteste farmi dire, da maestro).
sarei enormemente grato , mi dice cosa comprare (e come impostare che immagino essere la cosa più complicata).
Tuttavia, se si decide GRAZIE gia 'rispondo.



I have three AP;  one 2.0, another one 2.5 both are from 3DR and one 2.5 from chine that I used to run some test


Two month ago I burn the 3,3 regulator of the chine one, so I read the topic with the procedure to change it and did.


When I was in the investigation process to find a solution I think that somebody had written that if you installed de 3.0 release in a chine AP board you could burn the 3.3 regulator.


I have my test chine board again alive and I have installed 2.9.1 release and is working with no problem a small test quad. , but I would like to installed the 3.0 firmware.


I would like to know if somebody else has read what I think I read, if I am right or wrong.


I am looking forward to hearing from you guys any comments.


Thank in advance, Leopoldo

Reply to Discussion


© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service