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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There are other issues on the flight but from what you told us, I believe this was the moment things began to act strange. Also to note, that the controller appears to have some brownouts, but I didn't look at this with care.

Luis, are the brownouts that you are referring to the red spikes downwards?  I seem to have always seen these, so much that I thought maybe it is just a sensor glitch, they are never more than a sharp spike.

Also, I know that other than the unexplained climbing and descending motion, the vehicle didn't got to full throttle and fly around like crazy for 2 or 3 seconds until the very end of the log. The last mode change was from stabile to alt-hold, and then when it touched down, all heck broke loose. I agree, it seems like a sudden displacement of the CG, like something falling off could have the vehicle reacting in this way.  It makes me wonder if it was the camera and gimble.  It will be hard to determine now, they were thrown from the wreckage..

I'm pretty sure this is not a 3.3 issue now, so sorry I brought it up here. 

thanks for the help.


Don't know. It's always a case by case that has to be "traced" :) In this case it might be just a glitch because the other power parameters don't show anything:

Tried Auto mission today with tower and could plan the mission but could not take off.  As soon as I touched the Auto takeoff button the copter switched to auto mode and shutdown.  It worked just fine using the transmitter.  This worked with the previous version of 3.3.

I also think my Pixhawk is going bad as when I first plug it in I get bad AHRS.  If I unplug the unit and plug it back in it's fine.  It only does this the first time I use my IRIS.

Program a switch on your remote to be emergency motor stop. 
I have serious issues w/ the landing detection, and my copters flip over, or bounce, or try to take off again, or simply don't slow their motors fast enough when landing.  I broke props almost every time I landed.  Now, I set it down, hit the motor kill switch, and everything is fine. 

Hi VP,

Not sure what you mean about the bitmask, I recommend using 157693.

You are correct about the axis numbers.

Hi Scott,

I love it too :)

To complete my tests of 3.1.2 to 3.2.1 to 3.3-rc10's Auto tune I need a little help with 3.3-rc10

3.1.2 took about 3 minutes so 1 battery is fine. 3.2.1 took about 8 minutes so one battery barely made it. Now 3.3-rc10 is going to take even longer and my beater quad only gets about 10 minutes on a battery so I need a little run down on how to do it on 3.3-rc10. I know you can set a bitmask to only perform part of the test but my question [which I asked about 100 pages back] is how do I know that particular part of the test is complete and do I do the same as before which is once it is complete I turn off auto tune, switch to stab, then land and disarm. Is it the same now? Will it just stop doing the dance so I know that part is complete and then I do the same then switch the bitmask for the rest of the tests and repeat?

Hi Swift,

You can use a X or a H frame type depending on the direction you would like your motors to spin. If you have any twist in your frame at all you will get significantly better yaw performance if you use a H frame setup. That diagram you show is attempting to tell you you should use an X configuration if you have a layout like the copter on the left of that diagram.

I got that every now and then on rc-9 but do not seem to get it on rc10. Also after you unplug your lipo use a paper clip or something to short the leads on your connector to fully discharge your MR as some have said this solves the issue.

It is my understanding (and experience) that seeing "bad AHRS" on startup is due to the momentary lag as EKF is starting up (mine always clears momentarily) . I only started seeing it back when I first started EKF logging.

Hi Craig,

Set Autotune_Axis to 1 for roll, 2 for pitch and 4 for yaw.

Run through it normally, the copter should stop twitching and give you a tone to let you know you have finished.

You should never have turned off Autotune as that means your values aren't saved.

When Autotune finishes, simply land without changing mode at all or switch to Stabilize and land. Only after you disarm should you turn Autotune off. You can then carefully take off to test your tune of that axis. You can then change batteries and your axis to tune and repeat.

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