Copter: AC3.1.3 release notes
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ArduCopter Release Notes:
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ArduCopter 3.1.3 7-Apr-2014
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Changes from 3.1.2
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1) Stability patch fix which could cause motors to go to min at full throttle and with large roll/pitch inputs
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ArduCopter 3.1.2 13-Feb-2014 / ArduCopter 3.1.2-rc2 12-Feb-2014
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Changes from 3.1.2-rc1
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1) GPS Glitch detection disabled when connected via USB
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