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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I am sure this has been covered but this thread and the one at rcgroups have both become to deep to wade thru.


When in auto tune how do slight adjustments to position via roll and pitch input effect the time needed and outcome of auto tune?  Two quads I have run it on go thru the process in under 5 minutes, I have another extremly light quad and running auto tune I cant find a feild large enough to run it in and not have it drift away

. Always windy here in Florida on the coast. I ran the autotune yesterday on the light quad and with corrections for drift it took almost 9 minutes to run thru the roll portion of the test and only made it thru when I let drift for a few hundred yards, I made it about 30 seconds into the pitch portion before batt died and quad fell to its death.


Does the procedure start  at the begining everytime a manual correction is made?

I'm going to take a shot at updating the firmware. I can remove the APM case without dissembling my Quad or removing all of the motor/RX connections. Is it okay to leave everything connected to the APM while I do the update or does the APM need to be 'stripped down"?  I'll remove the props for safety.

Yes, when Acro Trainer is 0, then the Bal and Limit are both ignored.  It is PURE rate control.  It does have error tracking, but you probably won't "feel" this, it just feels very solid.

I did a whole bunch of acro flying on the weekend, and it was really great.  I've got the ACRO_RP_P up to 10.  I've done 4 consecutive rolls (while falling from high altitude) and it pulled out perfectly.  No confusion at all on the IMU.  And lots of high speed forward flips, backflips, barrel rolls, etc.  No problems at all.

Proof is in the video buddy ;)

I did see your other post about the Acro this weekend and meant to ask you about it directly, so thanks for the preemptive feedback.  It sounds like my first thought that this is a tuning issue is more to the point.  

ACRO_RP_P at 10 eh? Mad man.  I'm at 7.1 currently and have gone as high as 8, but stepped back down in order to work on the tuning issue.


Will the servo gimbal option still work on the next release? or is it getting removed?

double post, question below

Yeah, wish I had gotten video, it was fun.  But I never have anybody to shoot video.  I have logs though! :)

What is the issue you're having?

I actually wonder if I can go higher than 10 on the ACRO_RP_P.  Need to stay below 2000 deg/second though. :)  I'm not sure what the practical limit is for an F450 frame?  Just looking at some of the things I've seen online, I've seen some super fast flips.  10 is not bad.  It's fairly well controllable, but I have -40% expo on the roll and pitch so that helps.  But you really have to pay attention!

You don't need anyone, you need to strap a gopro onboard ;)  That's the video that would be dizzying.

Isn't the max 10, equating to 450/sec?

My issue is that its just.... I don't know, there are external forces "assisting" with the attitude of the copter.  I've been flying OpenPilot CC3D doing Acro for a while and it is amazing how "locked in" and smooth it is, even in acro (and I'm primarily an FPV pilot) and the current tuning of this copter is smooth in FPV mostly, but the Acro seems to suffer from a small amount of Gyro drift, usually off-axis (Pitch if I'm rolling, Roll if I'm flipping), that I can easily recover from with minor stick input.  It also seemed.... mechanical?  vs based absolutely on my inputs.  For sng I uploaded my df log that does have a few acro moments in it if you want to have a look.

...I think that's the right log



You can update with all connections but disconnect your lipo then no harm can be done.

Connect usb goto firmware and start update.

Okay, Thanks..

Hi guys, here is ROI function (region of interest) demonstrated.

See how camera stays oriented to the same area while copters circles around :

One ideea- yaw movement should be smoothed when seting ROI for the first time.



One note: Arducopter V3.1 RC4 fails Do_Jump command so i have to restart mission from RC switch.

Does anyone have an idea on this?

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