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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Richard: We do! The full-time wiki editors are paid 3DR contractors, and they make dozens of improvements each day. But even they can't do everything themselves (this is a free and open source project, with hundreds of contributors), so to keep up with the community code development we need community documentation contributions, too.  Please consider helping out by joining the maillist here

Ok a follow up to my Hex issues.I've attached the logs and here is a screen cap of the flight from mission planner's point of view.

I can fly it but it's just all over the place. Motors are making some jerky sounds and it's just insane to fly it.

I thought it might be the 13 inc props so I put a new set of balanced 12x3,8 on it [didn't help at all].
It has brand new motors so I don't think they are causing the issue though I had a pal rewind and rebuild my old set so I'll try those when they get back. The only thing "old" on the hex is the ESCs and they are a couple of years old :( So I am wondering if maybe they are the cause though they and the old motors were totally fine before I benched it.

Please help me figure this out as it is really frustrating. 

Oh and another thing the hawk is the same one I used on the beater quad for the tests I posted a few days ago and it had 0 issues


+1,  same history with my older cuad, waiting a Pix this week if solve the problem, only esc are going to be old (I didn't ask for replace ones :( ) I follow your issue (I build another cuad that flies nice), yes, very frustrating.

Done. Thank you.

@ Craig: Lots of X vibrations indicated, and the red Compass bar all the time.
I did shake this time my AUAV-X2 (foam pad mount)strong movements with -rc10 onto DJI F450 and this looks a lot better than yours:


Maybe you should work on your vibration damping.

Thank's for the video Gervais, I think's that my problem is still there too so I'm waiting for another dampening system too, new graphs looks amazing to evaluate; I'm anxious to give a try.

Is the AUAV-X2 officially fixed in rc10? Sorry if this was already answered. 

Should be..  Test it, and let us know :)

A couple weeks ago I mentioned my copter drifts a lot when between (rather than above) trees, but with ~15 satellites and a low HDOP. M8N GPS.  Someone asked for a log, and I finally made one. 
I'm not sure it's an issue, as the copter is definitely stable above the trees.   

But if you want data, here are some logs.

I also had an attempted fly-away, on rc10 in loiter.  It was the first time it's ever happened to me.  Historically, my copters have all been very stable once up in the clear sky.  
I'll post a link to my attempted fly-away discussion, in case anyone working on 3.3 wants to see those logs.
Attempted fly-away

I've attached an image of the amount of drift over a couple of minutes, while the copter is actually stationary, and a log.

I didn´t even notice that there was a problem, till I read about ;-) Although I tried about most -rc. I just put the 1k resistor on and forgot about it. Since I´m not a battery endurance tester anyways, I still don´t even care about it.:-)

PS: Btw., the recent batches (so called "quiet" version w/o TI) are coming with the mod already,if I understood Nick correctl.

It looks like it is stuck trying to upload the log... I'll try again. 


You didn't understand him.. .   
Mine is new, quiet version, and his "fix" is this, copter 3.3.   Nothing changed on the hardware, but he sure is saying it's "fixed".

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