ArduCopter 3.0 is ready for widespread use. To make the transition easier, this time we are asking people to voluntarily upgrade from 2.9.1b for the next month or so before we make 3.0 the default firmware downloaded by the mission planner. The new version can be found in the Mission Planner's Beta firmware's link, firmware.diydrones.com, GitHub and the new Downloads Area.
Warning #1: A bug was found in the FENCE in which if you lost GPS it could lean at extreme angles as it tried to maintain an invalid position. This is fixed in AC3.0.1-rc1.
Warning #2: This release has not been fully tested on Traditional Helicopters
Warning #3: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the WPNAV_ACCEL to 100 and Loiter PID to 0.2 (from 1.0) to reduce aggressiveness.
Improvements over 2.9.1b include:
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
How to upgrade:
1. Make sure you are using Mission Planner 1.2.59 or newer.
2. Click on the MissionPlanner's Firmware screen and click the "Beta Firmwares" link on the bottom right. The version numbers should update to "ArduCopter-3.0.1rc2", then click the appropriate frame icon and it should upgrade as per usual.
Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.
4. If you purchased an APM prior to March of 2013, update your PPM encoder to the latest firmware.
5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Special Thanks to Marco, DaveC and the rest of the beta testers for putting 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.
Added by Craig:
Please watch Randy's videos on setting up and flying APM-Copter 3.0 before you go flying. They are excellent!
Thanks Randy for the issue raised, hope it will be fixed soon.
Thanks, i must be blind ;o)
Hi Randy, attached my log file. I can see some noise on the BarAlt, and the effect on the smoothened Alt graph. She had a good run and was loitering quite stable and this happened as soon as I started yawing. My H's arms are mounted in a foam sleeve and my AP is on a foam pad. I'll have to check if the yaw does not flatten my arm mount foam and touch the fuselage.
Randy. just had a quick flight with stab, loiter and auto. This is with the mot stuff all zero. Here are the files. Im very happy with it but perhaps you can tell why the compassmot is making things bad.
By the way can you tell why one WP (6?) is still snatching while the others are silky smooth?
I cannot do the compassmot, I always get this error: Failed! Compensation disabled. Did you forget to raise the throttle high enough? I have raised it to 75% for 5 seconds and quickly pulled the stick down, to 80%, 90%, 100%, even tried just 50% , I always get the same result. I followed the instructions per this video to the T: http://www.youtube.com/watch?v=0vZoPZjqMI4
Any help/advice would be appreciated :)
The use of a comma or a decimal place depends on the local settings on your pc. The declination is entered in degrees but is stored in radians. When you view it in the advanced parameters list it will be shown in radians
Randy and Dev Team,
Just need clarification regarding INS_MPU6K_FILTER setting.
I noticed that in 2.9.1b release the INS_MPU6K_FILTER setting was changed to 20hz as per the release notes.
Now with this release 3.0 in the Mission Planner, in the Advance Parameter List under the description for INS_MPU6K_FILTER, it reads that this setting should be set 42hz for Arducopter and 20hz for Arduplane. However, there is no mention of the INS_MPU6K_FILTER setting being changed back to 42hz in the 3.0 release notes.
Which is the correct INS_MPU6K_FILTER setting for the 3.0 release for Arducopter, 42hz or 20hz?
I commend you all for this release.
thank you for support.
it's the first time to me. i have been flying many times before with 2.9.1b RC3; and only few time saw that there was fast descent but only ~1m not more (in RC3) when it reaches WP. but at this last time was more or less 10 meters jumping. what is most strange that it happened when it reached WP.
baro is covered and in plastic (not original).
let's see today i adjusted some NAV parameters to slow down arducopter and first flight in same area was OK of course not in AUTO.
I'll come back if i'll find reason
thank you very much
42Hz is typo or error of some sort.
The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz.
What version of Mission Planner are you using? Where are you reading it says 42Hz?
I'm using the latest version of the Mission Planner, version 1.2.53.
It's in the Advance Parameters List, scroll down to INS_MPU6K_FILTER, it's in the description field.