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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no one help me ?? :)))


Hi Rendy,

You may want to clarify your problem a little further and provide more details. Additionally, you had a hobbyking link in there as well, which does not help the readability of your posting.


Sorry if I repeat the question. I have the problem when the mode GeoFence. The parameters of 100m radius and height of 100 meters. Checkbox is enabled in the settings. At initial power-up and switch off Fenceoption on TX, Fence work restrictions and copter fly RTL. If i turn on and turn off the Fence switch, then after that everything is fine. Firmware is first 3.0.1 release.

So it should be or is it a problem?

Ok well after great debate (in my own head) I upgraded.  I did all the calibrations as per here and did a flight test with stabilize, loiter then RTL. I just wanted to post my log here so maybe the guru's can take a look at any potential issues.  This is a 3DR Hexa about 2 months old and apm 2.5.   It flew well the loiter was spot on and compared to the 2.9.1 better no fluctuations when i hit the change over switch. RTL bubbled a tiny bit but was smooth all way to the ground.


I'm sorry, I don't understand what you are describing.  Please give more details.

In general no issues with the upgrade but I was just wondering if a guru would look down my tlog and see if they spot any problems in order to avoid issues in the future.  I am the type to stay ahead of the curve and fix things before they are broke.

Gave the 3.0.1 Another chance.  Finally got it to fly stable.  BUT Loiter is all over the place and in RTL it just starts to fly away (Aparently flying back to the manufacturer?)  The only two settings i adjusted were the Roll/pitch rate control to 0.0800 and the Roll/Pitch Rate Dampening to 0.003 to get it to quit wobbling rapidly.

I think this is the log?


Tested it in an open field.  It loitered solid and steady once.  The rest of the times it flew away.  Same with RTL it returned to home one and landed.  The rest of the test it tried to fly away.  GPS was locked the whole time with 8-10 sats.

When I installed the upgrade the modified 3DR values shown in the picture above are not the same as what came up when I installed it, however it did show the Loiter P value put at 0.5 so I just left it all alone did the calibrations as per the how to and had a good test flight. I used andropilot and it uploaded to the drone site and when I looked it had red flagged a bunch of stuff so thats why I was questioning if I needed to tweak something before I get into trouble.  The flight I had went 100% fine even in stabilize did some fast figure 8s and such. I will do another flight tonight or in the morning if the winds don't settle.  

I was just wondering where the best place to get assistance in tuning a copter is. I can post video of the machine flying, I was just wondering if here, or the gmail-forum, or some other place was preferred to make the post?

That's your telemetry log from your ground station (pc).  Do you have the DataFlash log by chance?

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