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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Good idea thanks

Rob, I don't know if your fix has been implemented in rc5 or not. I see some code changes in the landing gear code. I tested rc5 this past weekend and the RTL waypoint landing gear deploy still does not work during a mission. If I use a Land waypoint during mission the gear works great. Or if I use RTL or Land Via switch the gear works.


Maybe you are interested in other logs:

Tarot T680Pro with 4010 340KV motors on 6S and 13 inch Props

Autotune_aggr 0,07. Much to sensitive, overall vibs

Autotune_aggr 0,05.Looks nearly good, but needs manual tuning.

The corresponding Yaw with 0,1 looks perfect !

I put some additional logs into the dropbox folder ...

Now I tested 3.3 Autotune with 3 Copters and would day there sould be some more steps avaliable to adopt the basics to do a good autotune.

In my personal case (T960) I am still tinking of an parameter which adopts the rpm lag to the pixhawk before doing autotune.

With autotune 0,06 on T960 there is still a bigger differnce between roll and pitch.

Cheers Gregor

2 years is an eternity when it comes to these things. I think you should count your lucky stars that you GOT 2 years out of them, I know I do and am quite content to keep the ones I still have on 3.1.5. 8 bit with very little storage and even less memory is just not going to handle all the new stuff and the new new stuff coming down the pipes. Even the hawks are starting to be pressed.

Leonardt, is the prop data you referred to is still online? If so, could you please share the link please? 

Emin, as others have said, there are stable versions of flight code for copter and plane that you can use.  The reason this project develops quickly is because there are lots of people writing code and lots of people testing.

We will never stop developing and never stop testing.

We have said it a thousand times, if you are not actively testing a new feature then please use the stable versions.

Thank you!

Thanks for the report Nick and thanks for including enough detail to make it very helpful

Nick (and others) something to keep in mind is that using RTL as a bailout option for a climbing flyaway is not a good option because it relies on the altitude controller to maintain altitude and the reason the vehicle is climbing in the first place is because the controller is already messed up.  Stabilize is best but there are cases where Loiter can be an option (in cases where the vehicle is going up and not away)


Is there any consideration for adding the option to ignore the internal compass if you have an external? Redundancy is nice but if the internal is too effected by EMI despite all best efforts perhaps this would be a better alternative to high offsets / mismatch between the internal and external causing it's own set of problems. Thank you devs for your work!

"DYS Marcia" 3-axis gimbal for GoPro 4 (with some hardware and software mods) and "APM:Copter V3.3 RC5"...

Interested in answer too, I'm not have a Pix yet but I'm worried what happens with int compass if I had to solve my compass problem with an ext one and them change my APM for a pixhawk? the problem migth appears again?

Thank's for all new devs, I following near to pick then when I change my boards :)

I need some assistance.  Trying to recall if there is another way to connect a 2nd GPS using +5V, GND, RX, and TX on the Pixhawk.  I damaged beyond repair the Serial 4/5 port and would like to use the Aux Output rail to setup a second GPS.  Is it possible, if so what pinout would work for this and configuration parameters?  I currently have LiDAR on port 5&6.  

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