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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My bad Eugene, I must be going blind or something, as on the last picture it sure looks to me as plastic case :D. And yes, as a decent gimbal for anything g bigger than a GOPRO costs about $2k AC 3.3's support of storm32 makes it very attractive. 

Randy, maybe it will appeal to you to compile something like 3.2.2 with most of the 3.3's non flight control related features like different gimbal serial  support, retracts and some other kinks? I think it is beneficial for both the AC project and us is users as we'll get some useful features on a hell of a stable platform, while you guys will get a chance to iron out any bugs in the said non flight control related features at the same time you will get some more time to work on the EKF and make 3.3 something really great instead. 

Has anyone else had trouble geotagging gopro pics via mission planner with 3.3rc8? Works well with 3.2 for me. When I tried with 3.3, using time offset, est offset always shows -1, then pre processing finds no matches. 3.3rc8 log below. 



I am running AC 3.3 rc7 still and I was testing a new FPV setup yesterday during which I triggered a "Fence Breach" and subsequent RTL during two flights. Everything worked perfectly, except that the "Fence Breach" was triggered very early. I have the Fence Radius set for 183m (around 600') however the breach is reported around 145m Either I am misunderstanding the way the Fence works, or something is amiss with the way it's working. I have placed both BIN files from those flights in my Google Drive (link below).

The logs are HUGE and, or very difficult for me to work with on my laptop (an Intel I5), has the 400Hz logging been turned off in AC 3.3 r8? Is there a way I can lower the logging rate or is it forced in the code for this version?

One other thing I have noticed as well. In rc5 I did and autotune which seemed to work quite well (even with the gimbal attached and active), however now in rc7, I have an oscillation on the pitch axis when I am in full forward flight. IE while in LOITER mode I have the stick pitched full FWD and am maintaining the speed defined in "WPNAV_LOIT_SPEED". During this time there is a visibly noticeable oscillation (maybe about 2Hz) in the pitch axis. I also notice it in ALT HOLD mode as well an much higher speeds, also at full FWD pitch.

Lastly does anyone know what the units are for "sonar range" in Mission Planner? I thought it should be in either meters or centimeters, but I can't find anything to confirm it. I get ranges from about .6258 to 25.0085. The correct rage should be between 20 and 700 cm.ig is as follows:

Stock 2014 3DR Y6B with Pixhawk

850kv motors

4S 6000 mAh battery

uBlox LEA-6H


RCCC Video Switch


Dual voltage 5v 12v UBEC 1A each for Gimbal/GoPro

Tarot 2D Gimbal

GoPro Hero 3+ Black

Immersion RC 5.8 600mw vTx

Weight with battery 2.6kg (5.7lbs)

Thanks in advance for your assistance,


Nathaniel ~KD2DEY



Are IMU::AccX and ACC1::AccX in the same scale?

I flown rc7 two times. The first flight has Raw-IMU logging off. LOG_BITMASK = 0x173FF8. For checking vibration I plot IMU::AccX/Y/Z and it is shown below.

Then in the second flight I turn on Raw-IMU logging. LOG_BITMASK = 0x0E7FFF. But then in the dataflash data file "IMU" records no longer exist. But there is a lot of ACC1::AccX/Y/Z records. So never-mind I plot them out and check for vibration. But the vibration becomes very large.

I didn't change any hardware between two flights. Does the vibration really go that worse in the 2nd flight or it is just because ACC1 and IMU show AccX/Y/Z in different scale?

Another question. I always see the error code FLIGHT_MODE-15 in my dataflash data. What does the sub-error-code "15" mean?

Thank you~



I found a similar behavior - although not as extreme as yours (http://diydrones.com/xn/detail/705844:Comment:2050547). I assume/hope that the difference in amplitude is a result of the ACCEL_FILTER at 50Hz and 400Hz. 

Can you provide the log files? Looking at the vibes and running an FFT would be really interesting.



Hi Adolfo, missed your question - sorry!

There as just another interesting report on very high vibrations in the RAW data (http://diydrones.com/forum/topics/copter-3-3-beta-testing?commentId...). 

So yes, just a short flight in loiter and some causing would be prefect!


Hi Chris

A few people noticed this problem. You can find another simple geotagging method here:


Thanks for the info. I ended up just using the .tlog off the tablet to tag the images with a time offset. Took a bit of trial and error to get the offset close to where it should have been, but was still not as accurate as using the CAM messages.

Thanks Thorsten for your help ^^

I zip the two logs (Raw-IMU = off and = on) together into one file (297MB).


I have not been able to download log files via Mavlink or even terminal IIRC since day one on PIxhawk. It always pops up "Error receiving log list". I have gotten so used to pulling the sd card out and getting the logs it kind of became normal. Would erasing the sd card and reloading the firmware fix it? 

Just thought I'd give a shout out to the Dev's of 3.3!  A solid day (so freakin' tired!) of mapping for contours and volumetrics.  My mapping X8 is solid as a rock.  25kph winds and going strait as an arrow.  Still a few issues with the geotagging, but not a bit problem using Pix4d and a 90 degree kappa adjustment.  Best flying mapping drone yet.

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