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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So I ran tests with rc7 with GBIAS_PNOISE set to 1e5, 8e6 and 1e6 respsectively. I can't say that rc7 felt any different to rc5. The learned offsets looked pretty similar to what I was getting with rc5 and control seemed good.

It was fairly gusty but the copter coped fine and the EKF innovations seemed ok. I couldn't see any difference in roll/pitch/yaw between DCM and EKF. The logs are pretty large because of the IMU logging so I won't post here. I guess a theory might be if you have high vibrations then you will be more susceptible to bad gyro bias learning.

I did notice two unrelated things:

1. You can't set GBIAS_PNOISE in tower, it thinks the value is effectively 0.

2. I still see very aggresive throttle up with RCMAP. Spin on arming does not work for me and as soon as I touch the throttle the thing tries to take off.

Graphs below. Let me know if you want me to plot anything else.

Many thanks for your explanation and for the very fast fix. I will go on with RC7 tomorrow. I did serveral flights with RC6 without any issue (4 flights with about 80 min flight time). I realize that every RC has a risk to use.

That's good to know :-)

Can anyone confirm to me than the new Landing gear retract function works ?

I have a new frame with retractable landing gear, have followed the wiki page about this function but can't get it to wrok.

I haven't flyed yet but I try this function on the ground, Can anyone confirm than this feature work or not ?

I've only found this input : https://github.com/diydrones/ardupilot/issues/2304

Thanks community :)

Yup, works great  for me :)  I'm using the standard tarot retract controller from the 650sport (which I believe also comes with most of their other current frames).  The only thing it doesn't do as advertised is to automatically retract the gear after takeoff, it has to be retracted by rc switch.  But it always deploys for me automatically when landing or rtl.

On RC5 that works fine ;o)



just a question, is it possible to turn pixhawk in a full 3D copter ?

From mechanical view, ESC's which can turn direction and symetric props are given.

I tested the day before yesterday for the first time AC3.3rc6 on My T-rex500, basic flight conditions can also, with rc5 was close, but after the automatic landing, did not disarm the master within a certain time, it had not been able to close the signal output ESC, leading after a few seconds, left-leaning body occurs gradually, the main rotor sweep the ground, I was forced to forcibly close the output ESC, which is open only to allow the aircraft to stop stalling switch power output!

The attached log, please ignore the larger Vibration


Hi Bill OT but any idea when APM 2 will have Auto Analysis?  

Fully supports traditional helicopters, but whether it can support 3D aerobatics Helicopter, I did not dare try it !

I tried rc7 on both quad and hex. initial lift off is nice now, with clean vertical movement with no wandering to the side or jumping around.

upon landing with throttle to the min it stops motors rotation but really does not seem to disarm the drone, I had to press motor kill switch then and wait a bit for disarm to happen.

I actually liked that routine better, at least for me it is better with no automatic disarm.

what was good - upon landing it did not try to do a crazy dance popping up and down then falling on a side  and hitting ground with props that it did before with 3.2 and rc5. it landed smoothly and remained landed, so, not sure what was done there in rc7 but it obviously worked.

it is an interesting graph.

here is how it looks on my hex - and it got AUAV case superglued to the top plate. 2 spikes are landings.

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