Warning #1: an issue has been found with Tower's Pause button which can cause the vehicle to fly to an old position if the vehicle has not sent a position update to Tower in some time.

Warning #2: Copter-3.3.2 fixes a bug found in Copter-3.3.1's desired climb rate initialisation which could lead to a sudden momentary drop when switching from Stabilize or Acro to AltHold, Loiter or PosHold.

Warning #3: Copter-3.3.2 fixes an issue found in Copter-3.3.1 which could lead to hard landings in RTL or AUTO if the WPNAV_SPEED_DN was set too high (i.e. >400 or 4m/s) and/or the WPNAV_ACCEL_Z was set too low (i.e. <100 or 1m/s/s).

Warning #4: a bug was found in Copter-3.3 which could cause a sudden crash if you abort a Take-off initiated from a ground station.  Video description is here.  The bug is fixed in Copter-3.3.1 so we recommend upgrading.

Note #1: AC3.3-rc8 corrected a long standing bug in the HDOP reporting.  HDOP values will appear about 40% lower than previously but this does not actually mean the GPS position is better than before.
Note #2: if upgrading from AC3.2.1 the vehicle's accelerometer calibration needs to be done again.
Note #3: set SERIAL2_PROTOCOL to "3" and reboot the board to enable FrSky telemetry like in previous versions.
Note #4: the wiki will be updated over the next few weeks to explain how to use the new features

Copter-3.3.1 is available through the mission planner.  The full list of changes vs AC3.2.1 can be see in the ReleaseNotes and below are the most recent changes since AC3.3.

Sadly this version (and all future versions) will not run on the APM2.x boards due to CPU speed, flash and RAM restrictions.

Changes from 3.3:

1) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff

2) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)

Changes from 3.3-rc11:

1) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent

Changes from 3.3-rc10:

1) PreArm "Need 3D Fix" message replaced with detailed reason from EKF

Changes from 3.3-rc9
1) EKF improvements:
    a) simpler optical flow takeoff check
2) Bug Fixes/Minor enhancements:
    a) fix INS3_USE parameter eeprom location
    b) fix SToRM32 serial protocol driver to work with recent versions
    c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)
    d) Firmware version sent to GCS in AUTOPILOT_VERSION message
3) Safety:
    a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided
    b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)
    c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI
    d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)
    e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)

Thanks for your testing!

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Ok, Sounds good. I would like to have the ability to utilize my DJI DT7 transmitter for my arduphantom build. I want it my setup to look like a real phantom but better since it is utilizing a pixhawk.



nice! :) thanks for the info. Currently I have alexmos board on my gimbal, with pins for RC in for pitch, roll, yaw and CMD which can be directly connected to a receiver. But I opted to connect them on the RC10 and RC11 outputs of pixhawk then configured the stabilization on the Gimbal page in the Mission Planner. I still cannot see the difference between my existing setup and the new feature that supports alexmos gimbal cotroller. Maybe I will find out later. One thing I look forward to is the new feature to adjust the pitch to certain angles during misison flights :) this would definitely be good. I was pondering about that way back on the release of AC3.2.


Yes, the max number of do-jump commands has been increased from 3 to 15 for the pixhawk boards in AC3.3-rc1 (and higher).


Thanks for the report.  You're right that we don't seem to be able to get into the cli menu.  I'll have a look.

Re: "require the vehicle's accelerometer calibration to be done again" If I go up to 3.3 rc1 to do a test, when I go back to 3.2.1 to operate will I need to also redo the accelerometer calibration so it's compatible with 3.2.1? Or, having done it once with 3.3 rc1, is it good for 3.3 rc1 and 3.2.1?

I'm looking forward to trying the 'new and improved' Auto Tune; just finished a quad that's a bit overpowered and wobbles like a weeble on descent. 3.2.1 AT gave some crazy results.



     The accel calibration values are stored in different eeprom locations for AC3.3 vs AC3.2.1 so as you switch between versions, you'll see the accel calibration values switch to what they were when you last calibrated the accels using that firmware version.  So once you've done the accel calibratoin for AC3.3, it should be safe to switch back to AC3.2.1 without having to re-do the accel calibration again.

Leonard your right, seems suspect to me too. this was a quick test inside the Garage, i'll retry outside and will see if the values remain same or changing.if so i will post the log then.

Hi Randy,

Where should I interact with him? I have many logs with EFK_CHECK errors and googling finds many more people with the same issues but there is a distinct lack of response from anyone who knows anything about it.

I have had one pretty serious crash when EKF was on and many more flights that might have turned into something similar if I wasn't using DCM. I know correlation isn't causation, but I would at least like to understand what the cause of my problems might be :)



Upload Copter 3.3 to replace the 3.3 dev (debug bad accel health, but IMU2,Dropix, etc,etc...)

Needed 3 upload to manage the 3.3 installation.

Seems to work great, little windy day (5Km/h), auto-tune is great, same result on the PID as VP Kuisma and others but seems to work fine, the Quad is fun to fly, even if, for the moment, only one battery for auto-tune and PosHold and...RTL

aggressive PosHold flight is great.

I'm really happy with the Ardu, great work! far away the best!



I am interested in testing the zubax as well. It would be perfect if the zubax compass would be supported as well.


Attach your log here (or provide a link) and I'll ask Paul if he can have a look.

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