The ardupilot development team is proud to announce the release of version 3.0.2 of APM:Plane. This release combines some important bug fixes with some new features.

I2C bug fix

The most important change for this release is a bug fix for an I2C bug in the NuttX I2C driver code that would (under some rare circumstances) cause a Pixhawk to crash. This bug fix is the primary reason for doing a new release now.

This bug was able to be reproduced by creating a 1.3m GPS cable carrying both the I2C signals for a magnetometer and the UART signals for the GPS. Interference between these two signals could cause the I2C controller to give spurious data to the I2C driver. The I2C driver did not have sufficient protection against these errors and could crash the board.

While we have not been able to reproduce this error with the normal cables that come with a Pixhawk we cannot rule out the bug triggering with shorter cables, so we are doing a fast release to fix the bug.


This release also includes an important new feature - automatic roll/pitch tuning. While this feature is still considered experimental we have had very positive feedback from beta testers and have decided to include it in the release.

Full documentation for how to use automatic tuning is available here:

we hope that the automatic tuning will help users who have had difficulty with the standard APM:Plane manual tuning procedure. We plan on extending autotune to other aspects of fixed wing tuning in future releases.

Other changes
  • fixed a glide slope calculation error when very close to waypoints
  • fixed a bug when swithing to another auto-throttle mode during auto takeoff (thanks to Marco for finding this bug!)
  • added MIS_AUTORESET parameter (thanks to Andrew Chapman)
  • support compassmot calibration by supplying current measurments to the compass driver (thanks to Jon Challinger)
  • fixed a GPS driver bug that could cause GPS lag in case of lost GPS samples (thanks to Jon Challinger)
  • fixed a LOITER_TURNS bug in missions for counter-clockwise loiter (thanks to Iskess for finding this bug)
  • added support for OBC termination requirements to PX4IO
  • added support for pressure altitude termination to OBC module
  • fixed EKF wind estimation with no airspeed sensor (thanks to Paul Riseborough)
  • improved tuning of EKF for fixed wing aircraft (thanks to Paul Riseborough)
  • Converted rally point code to library AP_Rally (thanks to Andrew Chapman
  • added SITL checking for numerical errors

Thanks to testers!

Many thanks to everyone who tested the beta versions of this release! Special thanks to Marco, Paul, Jon, Iam, JNJO, sonicdahousecat and Keeyen for providing testing of both existing features and the new autotune code.

Happy flying!

Views: 3945

Comment by Gary Mortimer on May 4, 2014 at 12:28am

Nice Tridge, just a reminder folks conversations around this to happen here

Comment by naish on May 4, 2014 at 1:08am

Thanks, I will give it a try soon. 

Comment by Daniel Portillo on May 4, 2014 at 6:57am

Thanks, I'll test autotune soon, great feature.

Comment by hector hind on May 4, 2014 at 7:39am

does the apm 2.5 support the new auto tune code or is it a Pixhawk only update?

Comment by Hugues on May 4, 2014 at 8:34am

Thank you. I will try my xuav talon with this new firmware.

Comment by Toby Lankford on May 4, 2014 at 9:43am

I keep getting a failed trying to verify block 952 error?  Hooking everything else up the exact same way.  If anyone else is experiencing this error.

Comment by Toby Lankford on May 4, 2014 at 10:01am

Actually it loaded great on APM 2.6 in MP 1 but it just kept getting the error in APM PLanner 2.0.

Comment by Gary Mortimer on May 4, 2014 at 10:29am

The place to discuss this release Toby is here 

Comment by Andrew Tridgell on May 4, 2014 at 2:16pm

@Hector, autotune works on all board types, including APM2

Cheers, Tridge

Comment by Cala on May 4, 2014 at 4:13pm

Today, the first calm day that I' have to check 3.01 and the sky walker flies nice in perfect loiter circle, mission just above the yellow line, I don't shure what change but it's another plane THAAAANK'S.

Next flight I try 3.02  :)  


You need to be a member of DIY Drones to add comments!

Join DIY Drones

© 2020   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service