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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Well theres the answer then. All 2.6's gets SHIPPED with the 5883 , and its not user changeable.

I have had GREAT hold with it, so I fail to see the problem. Perhaps future releases may have the 5983, but surely that will mean an increase in production costs.

If the 2.6 had the VERY VERY best of every sensor, I doubt if it would still cost the same.

I do get your point if you have a 2.5 or some other reason to buy an external Mag, then yes, by all means, buy the best one you can afford.

Diego, there is no Default. You can use whatever PIDS work for your particular multicopter..
3.0.1 is more sensitive to Mag field interfereence and vibrations, so perhaps that is why is is worse now?

Hello Wessie,

Thanks for reply! 

Is worse with the Stock PID of the v.3.0.1 but better than the performance with the 2.9.1b.

However the v.3.0.1 works great with the stock PIDs of the previous version (2.9.1b). That's what surprises me...

Y should point to BACK of copter, pin connector is FRONT and components up

this same Orientation on ardupilot board 2.5 (COMPASS_ORIENT parameter = 0)

You've already probably seen this in your logs, but your Y-Gyro goes pretty wild right before your crash.  I'm not sure if that was a cause or an effect...

I think the answer to my problem is 2 post forward, it's the mag orientation.
I have an old external mag (3d robotics HMC5883) and I thought that correct orientation was indicated by the arrows, but when I've seen James post, seems the correct (standar) orientation is components up pins forward. Is that correct? If it is true, the wiki is misleading in that point.
Now I have it oriented with pins at rear, components up, as shown at 3drobotics:

Clearly the Y arrow shows a wrong direction.

Hi Juan,

I picked up the same discrepancy and mentioned it here: Randy mentioned that he did recall an issue with the printing on some early boards and it looks like both yours and the one in the example image in the wiki show the y axis in the wrong direction. Given all the interest in external mags since the release of V3, I'm sure that it would save a lot of problems if the image was updated and a warning regarding the early boards posted.


Thanks a lot.

Hi guys,

I was just demonstrating my friends at the flying field how my APM 2.5 fitted quad could do missions on its own as halfway through it decided to bank steeply and race away at full throttle! My heart skipped several beats there! Luckily, after two wide high speed turns I managed to get control back at a stable position from where I could safely bring it home.

Of course, to add to the drama, my GoPro recorded the flight in full detail. In it you can see that the quad is nicely following some waypoints as suddenly it banks and hits the throttle. What on earth (in the sky!) has happened there? I attached the log file and uploaded the movie to YouTube (the flyaway occurs just after the 1:00 mark; at around 2:00 I regain control by switching back to Stabilize):


anyone to help me ...???

is possible that the value in the Y-Gyro is precisely because of the accident, if not the cause .... the truth is that I was in a perfect hover, and hexa shot out forward, without any explanation I could download accelerator .... only after crossing an asphalt track, to prevent breakage was greater ... will have traveled about out of control about 20 meters tall ... and very little ... but with a lot of speed to later ... the truth is I'm new to this system, and I fail to distinguish that value attached log that might give me some clue of what happened ...

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