After months of testing AC3.1 is finally available in the Mission Planner and GitHub.

Warning #1: If the vehicle is left landed (but armed) while in AltHold or Loiter mode for more than a few seconds, the vehicle may suddenly jump into the air the moment the pilot raises the throttle above zero.  The reason is the baro altitude may fall while the vehicle is sitting on the ground.  In AC3.2 this bug is fixed because we reset the target before take-off.

Warning #2: Motors will spin (slowly) by default as soon as the copter is armed!  You can switch this feature off by setting the MOT_SPIN_ARMED parameter to zero.

Warning #3: if you see "Bad Gyro" on the HUD then you may have a blown 3.3V regulator.  See this thread for details.

Warning #4: if you use a sonar set the SONAR_GAIN parameter to 0.8 or lower

Warning #5: Trad Heli users should now connect their main rotor ESC to APM's RC8 output

Warning #6: Trad Heli BUG causes loss of collective control in ACRO mode if swash type set to flybarred (i.e. not flybarless).  Will be fixed in AC3.2.


The major improvements over AC3.0.1 are (full list here):

1. Pixhawk support (Tridge & PX4 development team)

2. Autotune of Roll and Pitch gains (Leonard/Randy)

3. Drift mode (Jason)

4. Improved Acro (Rob/Leonard) and new Sport mode (Leonard)

5. Arming, Take-off, Land in Loiter or AltHold

6. TradHeli improvements (Rob) including:

a) support for direct drive tail rotors

b) smoother ramp-up of main rotor

c) reduced collective for better control in stabilize mode (STAB_COL_MIN, STAB_COL_MAX params)

7. Support for SingleCopter (Bill King)

8. Performance improvements resolve AltHold troubles for Hexa & Octacopters

9. Safety Improvements:

a) GPS Glitch detection (Randy)

b) Motors spin when armed (Jonathan Challinger)

c) crash detector shuts off motors if copter flipped for 2secs

d) batt failsafe option to RTL instead of LAND, gps failsafe option to trigger AltHold instead of Land

e) more pre-arm checks of inertial nav speed,

10. Bug fixes:

a) optical flow working again (although performance is still not great because not integrated with inertial navigation)

b) ROI working (use DO_SET_ROI command)


How to upgrade:
Click on the MissionPlanner's Initial Setup >> Install Firmware screen.  The version numbers should appear as "ArduCopter-3.1", then click the appropriate frame icon and it should upgrade as per usual.

Special thanks to Marco and the many beta testers on the AC3.0.1 thread who put their copters at risk during the testing of this new version and uncovered many problems so that you don't have to!  Here are some of their videos: loiter in wind, patio sonar, autotune, autotune2, roi, beach, acro, vrbrain, tricopter, train spotting, radio failsafe, the tree, double loiter


If you haven't seen it recently, please check out the ArduCopter wiki.


Feel free to post comments below and we're going to use the new APM Forum for support issues so please post your support requests there.

Views: 151287

Reply to This

Replies to This Discussion

Yes, after the first bouch the accelerometers go a little haywire, so after struggling to settle gently.
Today I mounted a landing gear quite high (20 cm) and now lands perfectly, like other multirotor in my latest video.
This little hexa is over powered, look at the throttle stick when i fly in Stabilize, not over 50% in all the maneuvers... ;-)
Here another video with VR Brain, with perfect autolanding due "long" landing gear.

Now that's as good as anything I've seen for an autoland, especially considering the wind.

Nice! The loiter is remarkable. I guess it is time to start saving up for a VR or Pixhawk

a helpful feather: Rest To Armed Yaw

Pixhawk is definitely the future it seems but a well-tuned APM 2.5 with 3.1 is rock solid in loiter as seen in the introductory video Marco posted top of the page.

BTW, Marco or others, Do Pixhawk, PX4 or VR Brain use the same Mission Planner software for tuning and communication? 

Marco also, is it a Clean Switch Between APM 2.6 and PixHawk when you replace one for the other?

I know that both are using the same GPS, compass and even the telemetry module. Not sure about the power module. It is probably different.

I am just not sure about if they both use the same Mission Planner. I hope they do...

i'd like to know as well.. I was assuming all the cables were the same; i'm replacing an APM with the pixhawk; I was under the impression power/telem connections remain the same. Would hate to get the pixhawk and not be able to use it lol

According to the 3DR Store pages, it appears to be a clean swap, all plugs are the same Between the APM 2.6 and PixHawk Now we just need the Mission/drone Planner Question answered and 3DR has some sales! :)

In the Pixhawk connectivity are practically the same of APM and is provided with cables for connecting them, there're additional connectors for future devices and expansion.
And of course, all the boards use the same Mission Planner V1.x and the new APM Planner V2.x.

Mission Planner & drone Planner is still the PixHawk GCS? thanks for your responses Marco

Thanks Marco. Could you confirm the power module once again please?

If I am not mistaken I was told that the 3DR power module made for APM 2.5&2.6 board wouldn't be enough for Pixhawk/PX4.

Am I mistaken?

Reply to Discussion



Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service