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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Hi Andre,

The problem is you had your aggr set to 5 not 0.05. This means you were working with 0.2.

let me know how you go with the correct setting.

Sorry for the late reply!!!!!!

Hi Gregmaan,

I could go down to 0.02 maybe on the aggr number but I will only officially support 0.05 to 0.1.

I can't go any lower than roll/pitch 36000 and Yaw 9000. Any lower is just too slow for someone not expecting it. You can set them lower manually though.

Sorry for the slow reply!!!!

Thanks Edwin and Henri!!!

Hi Maury,

Sorry for the late reply!!!

The high yaw numbers shouldn't be a problem. This is the big change for 3.3. The Yaw controller is different. You may want to try doing the autotune on yaw set to 0.1. If you want to use the 2.2 parameters you need to increase 

RATE_YAW_FILT_HZ to 20. It is currently very low so you may try just increasing it to 4. (I would autotune with aggr of 0.1 though).

I can't seem to actually see your oscillations in the log you sent.

Let us know how you go!!

Hi Fnoop,

0.5 is way too high, that will be limited internally to 0.2. I hope you meant 0.05 but it is worth checking you didn't make a mistake.

My suggested range is 0.05 to 0.1.

Hi Nathaniel,

Sorry for the slow reply.

Your pitch oscillation may be caused by the copter trading off speed for height. This can happen if you ask for too high a speed or if you have a head wind.

You didn't seem to have a navigation log in there so it is hard to confirm.

Hi Pritam,

That is definitely a terrible tune on pitch!!!

Do you have a log?

I would suggest resetting your pitch parameters and redoing the pitch tune. You may need to increase the aggr to 0.1 for pitch. You can do just the pitch by setting the Autotune_axis to 2.

Sorry for the slow reply!!

Hi Maury,

You can go as low as you like with the ATC_ACCEL parameters. They only change the handling characteristics. So if you are happy with your copter feeling like an Avengers aircraft carrier then that is fine. Just be mindful that your copter will be slow to react!!

Sorry for the slow reply!!

Hi DG,

If you are talking about how the copter flies after autotune then:

Make sure your RC_Feel is 25 or 50.

You can also drop your ATC_ACCEL parameters.

If you are talking about the way the copter twitches during autotune there have been a bunch of tweeks done so I would expect there to be differences.

Hi Paul,

Could you provide a log so I can see your parameters and what is happening.

Hi Leonard,

  I'm talking about how it flies after AT. Even at hover it twitches; looks and sounds awful. I'll get the AT log and post.


Here it is. I had to switch off hi rate logging as Randy suggested to try to fix GPS issues, it seemed to help.

If you look at vibrations graph you can see how after 3:30min mark IMU Z accel goes crazy.

It is what it does at descent. No idea why, it was a relatively calm day.

If you want the video you can also hear what motors are doing, it does not seem to be normal, IMHO.



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