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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After installed rc10, the copter will not arm.

In the messages it says:

'pre-arm: duplicate aux switch options'

I don't recall changing anything in rc9 to cause that. 

I understand what you are saying about hover throttle, I recently took off a heavy camera and gimble and replaced it with a simple GoPro and Tarot 2D.   I hadn't  changed the hover throttle accordingly.. 

I see the importance now..

as to the RTL in the log,   I have it set so that It takes a second switch  to engage RTL, and I never use RTL so I don't know what happened  there.   When only using switch 1, I get only stable, Alt-Hold and Position Hold.   I'm sure I didn't engage it operating the second mode switch.  That puzzles me..  It seems like have seen other RTLs in my logs, and yet did not go into RTL.  The only other trigger is the receiver failsafe is set so that loss of signal will cause it to mimic the mode switch settings as when set to RTL.

I am using the EZUHF LRS receiver, and I did a bind with the mode switch's set to RTL.  That is the method for setting failsafe for that receiver.   I don't think I had any problem with the radio though and I was not more that 20 feet way.

Still puzzled.

Thanks for your help.

Huh?

Hi Bernardo,

Yes you can manually add those values and Autotune will start there. It will also speed the process up considerably. That is why a second Autotune will run significantly quicker than the first.

The main reason I run a second autotune after I successfully finish my first is because poor tune on one axis can mess with the results of the other axis a little. The second Autotune runs relatively quickly (I always wait for good conditions for the second tune) and gives me confidence I have close to the optimal result.

Parachute testing on RC10.  Haven't tested the chutes since RC4 or5.  But Can't seem to get them to work consistently.  After arming and powering up, I'll lift the copter and tilt it which should release the parachute.  Sometimes it does.  Other times I get crash detected and no parachute release.  Consistently it's a 50% of chute release of crash detection, but never both.  I've attached a log with the Chute error and one with a crash error.  Also, when setting the min_chute alt at 0 they won't release manually.  MP just says chute landed.

Parachute testing on RC10.  Haven't tested the chutes since RC4 or5.  But Can't seem to get them to work consistently.  After arming and powering up, I'll lift the copter and tilt it which should release the parachute.  Sometimes it does.  Other times I get crash detected and no parachute release.  Consistently it's a 50% of chute release of crash detection, but never both.  I've attached a log with the Chute error and one with a crash error.  Also, when setting the min_chute alt at 0 they won't release manually.  MP just says chute landed.

Attachments:

Leonard, you refer to wait for good conditions for the second tune; on your first tune what conditions you choose? . my cuestion is because I wait for calm day to tune, but I need to fly with wind; It's better if I autotune with the same conditions that I want to fly? It's possible to do autotune with windy conditions? Thank's

Hi Cala,

No, it is defiantly NOT better if you autotune in the same conditions you want to fly. I understand your reasoning but Autotune will give you the best results for both windy and calm conditions when tuned in calm conditions.

On my first tune I will still look for the best conditions I can but I will sometimes compromise to get a reasonable starting point. Generally I can find some good conditions, at least once a week, early in the morning or in the evening where I live.

Thank's Leonard, I'm going to try the double autotune, nice tip.

More odd messages with rc10. This time PreArm: Check FS_THR_VALUE_

Double checked throttle settings: 982

FS_THR set at 960.

Played with it for while (re-cal radio, put in too high FS value, then too low), started working correctly again with original setting of 960.

Is anyone else having strange behavior after installing rc10? I'm using MP beta 1.3.31.3.

I get the bad AHRS message, bad gyro, and GPS health frequently on multiple firmwares.

Unplugging the battery and shorting the leads seems to clear it up most times, other times I have to repeat the process as many as three times.

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