ArduCopter-3.0.1 released!

ArduCopter 3.0.1 has been released and is now available in the Mission Planner, firmware.diydrones.com, 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:

3DR Quad Set-Up Suggestions

AC 3.0 Pre-Arm Checks

AC 3.0 Maiden Flight Checks

AC 3.0 "Live" Compass Calibration

AC 3.0 CompassMot Setup

AC 3.0 Fence

Special Thanks to Marco, DaveC 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 here, here, here, here, here 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.

I had assumed that enabling the "Arming Check" prevents arming unless there's a GPS lock?

I had a very unusual and exciting flight today. My new H-quad is heavy, about 1.8 kg with long arms (equivalent to 700 mm). 470 KV motors turning 14" props and still in the tuning phase.

I did a normal, but short flight, set down, disconnected the battery, realized I still had battery left. Plugged the battery back in, gave it a few seconds to acquire a GPS lock (but didn't visually see that it had a lock), armed and lifted off.

I got it up about 2 meters and it started some hard rolls to the left. I tried to correct but it mostly ignored my control inputs. It then made a full 360 degree roll, coming back to level just as it reached the ground where it plopped down without damage. Onlookers were quite impressed thinking I had done it deliberately. I was relieved it made it to the ground without breaking something. Two later flights were without incident.

I figured it was a GPS issue so I checked my log for the flight. I was surprised to see no GPS entries, unlike the logs for the rest of my flights today. I did find on line 308 an "ERR", for Subsys 7, Ecode 1, which means GPS lock lost for 5 seconds or more.

So....Why did it let me arm if it didn't have a GPS lock? Or am I misunderstanding the Arming Check?

Also, I was wondering about the Angle Boost. Per the log it goes nuts during the roll. Is Angle Boost adjustable?

The log is attached for your amusement.

Thanks!

2013-08-03 12-29 2.log

Replies

steve August 5, 2013 at 10:28am

I'm getting ready to order one of these: http://www.foxtechfpv.com/tarot-gimbal-stabilization-system-p-913.html

but wondering why I'm not able to use the APM2.5 / AC3.0.1 camera stabilization. It's on an Octo and when I use the camera stabilization it has a definite lag. Only the slowest rolls and pitches will be compensated in time. If you move the copter any faster, it just lags behind making it worse. Could I have something wrong with my setup or is the APM2.5 reached it's limits on processing power? I'm using the standard roll and pitch ports even though I have digital servos because on an octo you can only use the analog ports for camera stabilization.
David Ardis August 4, 2013 at 2:48pm

Noticed something strange today with my hex copter. When the sun went behind a cloud the Hex climbed about 2m and when the sun came out it decended about 2m. This happened several times but otherwise was stable.
Pampaflyer August 3, 2013 at 5:46pm

Today I tested the new firmware in my Octa.

Its is flying pretty stable until i try the loiter

I have no idea why but each time i switch to loiter Octa banks almost 90 degree instantly, in pretty aggressive maneuver. I have 3 apm 2.5 here and this is the first time i saw that behavior. I have time only to switch loiter back to stab mode and save the octa.

Anyone have an idea?
Tom Mahood August 3, 2013 at 1:33pm

I had assumed that enabling the "Arming Check" prevents arming unless there's a GPS lock?

I had a very unusual and exciting flight today. My new H-quad is heavy, about 1.8 kg with long arms (equivalent to 700 mm). 470 KV motors turning 14" props and still in the tuning phase.

I did a normal, but short flight, set down, disconnected the battery, realized I still had battery left. Plugged the battery back in, gave it a few seconds to acquire a GPS lock (but didn't visually see that it had a lock), armed and lifted off.

I got it up about 2 meters and it started some hard rolls to the left. I tried to correct but it mostly ignored my control inputs. It then made a full 360 degree roll, coming back to level just as it reached the ground where it plopped down without damage. Onlookers were quite impressed thinking I had done it deliberately. I was relieved it made it to the ground without breaking something. Two later flights were without incident.

I figured it was a GPS issue so I checked my log for the flight. I was surprised to see no GPS entries, unlike the logs for the rest of my flights today. I did find on line 308 an "ERR", for Subsys 7, Ecode 1, which means GPS lock lost for 5 seconds or more.

So....Why did it let me arm if it didn't have a GPS lock? Or am I misunderstanding the Arming Check?

Also, I was wondering about the Angle Boost. Per the log it goes nuts during the roll. Is Angle Boost adjustable?

The log is attached for your amusement.

Thanks!

2013-08-03 12-29 2.log

https://storage.ning.com/topology/rest/1.0/file/get/3692792077?profile=original
Dave August 2, 2013 at 2:49pm

How accurate is Baralt at low altitudes? I've been experiencing negative readings in the logs and today it hit me. I've been roughly 1-2ft off the ground just trying to tune stuff and not suffer a major break if I crash. I graphed RelAlt and I had more above 0 readings than with BarAlt but there were a few negative readings. Even as I sit here typing the USB reading for Altitude is jumping from -.20 to 1.40. It's settled at .85 and I'm on the second floor of a house.
palo sestak August 2, 2013 at 1:26pm

Guys,

at last i got some free time to test ACM 3.0 on TBS quad frame.

Just tested stab, loiter and RTL.

Stab is working, how to say it, just perfect !!! I can only say it is what i was searching last few years.

Thanks to developers for this versions (3.0+)

But!

When i switched to RTL, frame started falling down and i had to intervene to prevent hit the ground.

Tried also loiter. From begin it was rock solid at the one place, for a long time, then it also went down.

When looked into logs i can't see any suspicious things. Can some body help me with analyse of the logs?

2013-08-02 21-13 3.log

2013-08-02 21-14 4.log
airmamaf August 2, 2013 at 8:38am

Hi all,

I've got a big difference between pich in and pitch, but I don't have those big difference with roll in and roll. I'm using a TBS frame, do you know what could be the reason ?

Thanks,

2013-08-01 20-15 1_pitch.png

2013-08-01 20-15 1.log
Emin Bu August 2, 2013 at 1:44am

i do not like DJI prices but this one is something

http://www.dji-innovations.com/product/spreading-wings-s800-evo/

as we evolve they do too...S800Evo+WookongM(with osd+wp+...)+retract landing gear+antivib kit+motors with foldable props+opto ESC so, complete kit for 2499Eur(3300$) i must say that is good price

http://www.kopterworx.com/vmchk/DJI-Professional-Multirotor/DJI-S80...
Reuben August 1, 2013 at 10:44pm

Hi Guys ...

I have a new issue for me .. My Quad and Hexa have been flying really well and i have been fairly happy ..I decided to show my photographer business partner that we dont have to buy a second DJI unit we can use Arducopter .. But alas after many successful flights on no wind days ...today was a little wind not too bad but the odd gust and breeze ..by no means gale force ! lol ..but the copters were so hard to handle and struggled to maintain loiter or even Alt hold ..it was quite scary! I tried rebooting but still the same ..very jittery and unsure of it self ..so we put up our Wookong ship and it was stable as ever before ..please any ideas why it does not like windy days ? I have foam on one of the APM2.5 units covering the altidue sensor..but not on the other one which version 2 with the daughter board for the old GPs .. both units are on anti vibration mounts but they were both unstable ...other wise beside today they were flying great. i was told to go back to the drawing board :o( and ideas ? Reuben
Dave August 1, 2013 at 9:39pm

In the attachment does it appear motor 2 is running slower? Does this log entry follow the same order they are plugged into the APM?

m2-check.PNG

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