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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Anything planned on implementing GPS Glitch protection on Arduplane?
I mean poor mans Gps glitch protection (16 Bit Boards), as it is already available for 32 Bit boards with the EKF.

Rodrigue Amyot, have you found a solution to your problem? I seem to be encountering the same issue and was wondering if you had already figured it out.

No I didn't.  It was part of configuring everything but it was not a mandatory setting for me. But I would like to be able to do it for some situation. So I'm still interested to how to do it.

Hi David, could you tell me where is motors.pde. Thanks

I know that they are supposed to be enabled at all times, but recently my Pixhawk has suddenly stopped recording dataflash logs. It just says that the SD card is empty and there are not files. Do you possibly have an explanation as to why it stopped working? Can the SD card be corrupted somehow and unable to store new dataflash logs? It was working this morning, but now it's not. I did change the value for Log_Bitmask from 8062 to 65535 to get more data stored on the dataflash log, but I am not sure if that is the reason why it is not storing the dataflash logs anymore.

Probably your Sd is corrupted, try with a new one.

OK I thought it might be that the SD card was corrupted. But I placed the micro SD card from the Pixhawk into my computer (via a SD card adapter) and I was able to access the contents of the disk with no issues. I then put it back in my Pixhawk and same problem. I'll try another SD card in this Pixhawk and see how it goes. I thought maybe it might be the recent Arduplane firmware update that I just downloaded as well, but I'll keep working on it. Thanks for the advice!

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