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!
No Philipp, at the moment is not possible.
Hey Leonard, don't be so hard on yourself about the yaw bug. In the grand scheme of things, it's not a big deal. Yaw control has been much, much worse in the past than it is now. ;)
Maybe something like how the compare parameters works. Now we load up a saved parameter file but what if a button was added there that would instead load the default parameters for that version so you can compare and even load the ones you want.
Euan, I realise that you have worked hard to make your copter more than prepared for 3.0 and the frustration you must feel. I and I suspect many of the developers and testers feel directly responsible for every frustrated user.
It is also very frustrating for the developers to not be able to find the problem and fix it. When we see someone who appears to be doing everything and the logs don't show enough information to diagnose the issue we are left with little more than a statistic. If we could get hold of problem examples (the actual frame) the job of fixing problems would be significantly faster and easier.
Don't worry about being critical. The dev team spend most of their time focussing on the negative (problems, bugs, and usage issues) and reading feedback from frustrated or confused people. But it is this process and the pressure from the community that has driven the community to get this far. Constructive criticism is a vital part of this process.
On a personal note I really appreciate each person who puts a quick ''working great and thanks'' post up. It is just good to see that everybody isn't having problems.
I've always only ever flown my quadcopter with the sonar enabled. I now want to try alt_hold without it. Which PIDs would I need to tune if it's not holding the height, "Altitude Hold', "Throttle Rate" or "Throttle Accel"?
I understand relocating the APM board is a major job; it will require time and money. I am in the same boat. I will have to relocate it.
There is one other possibility: Have you consider disabling the internal compass and using an external one?
As far as I know this is possible. Not a very easy job but if it can be done, you at least won't change everything on your set up. This will move your compass away from electromagnetic interference.
I did compassmot three times in a row and always ended with 29% (75% throttle). That´s how my compass parameters look like:
COMPASS_DEC,0.052 (Weißenbach, Styria, Austria)
Vibration logs show levels lower than being considered as acceptable for Flamewheel frames in Wiki´s topic on vibration control.
So it should work, I suppose? I hope it stops raining soon!
Yes. I think it is the only point in releasing APM 2.6: External Compass. I don't think they changed anything else...
I don't plan on buying APM 2.6 at the moment. I will just disable the internal compass and use an external one...
Much cheaper solution...
Maiden flight today with the V3.0.1-rc1. I opened gas to take off and, suddenly, the quad has turned on itself and crashed to the ground upside down. The quad has not gotten off the ground. The shift was immediate.
I've tried twice. The first time, the quad turned backwards, the second forward.
I have to say that so far my jalopy has flown always very good. Of course, I checked the propellers (I have not left any of them backwards after the compassmot procedure), reviewed the rotation direction of the motors, etc.
I hope someone has time to review my "flight" logs