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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The problem is not batt failsafe, but EKF failafe and GPS failsafe. So just think of a multipath+GPS giving you a glitch and instead of going into alt hold or land as you programmed it, GPsS failsafe is ignotlred and some "random" coordinates are being accepted as valid -> copter shoots towards those coords with wp_nav_max_speed. Does this sound as something minor for you? 

That's pretty much what happened to me, and classified as an official fly away; the first ever for.

Despite having flown multiple missions and flights, one day for whatever reason it decided to fly it's own coordinates and do approximately what Artem describes. 

It was suggested to move the FC further away from the power lead, however during calibration (more than one) indicated no problems with EMI. However, to be safe I added an anti-vibration platform which raised the FC an additional 10-15mm height. On 3.3 rc10 using the new EKF/VIBE meter feature, everything is pretty much flat lined except for EKF compass showing a bit of green occasionally.

There haven't been any repeats of that day, but I'm looking at buying another AUAV-X2 manufactured in March, but don't want it if the AC "fix" is in question. I like the AUAV, but can't get an updated version until October, so maybe a Pixhawk will have to do.

So how does one test it apart from hoping it doesn't happen again? 

Artem, that sounds ridicolous, indeed.

But honestly, I didn´t have a single Problem,related to GPS or EKF FS, although I did a lot of flights with the X2 with various -rc Versions since Oct 2014,when I replaced my defective 3DR PX,.

If it hadn´t been posted,I still wouldn´t have any knowledge. 

PS: It hasn´t be reported @ my pretty huge german X2 thread @  fpv-community.de  as well, so I´m not the only one;-) But I understand your worries,although I don´t share em.

Do you have one or two GPS units? Just wondering.  IIRC Randy recently recommended not using two until a fix in 3.4. Someone please correct if that is not the case.

Can you clarify something, as you seem to be well informed on this. Does they X2 have an issue that caused EKF failsafes to be ignored as the firmware thought was powered by USB? And this issues has been supposedly fixed with the latest release of rc10? So I do not  now need to use the 1K resistor mod?

that is playing a "Russian roulette" imho

have you happened to fly in the mountains or near a big body of water like a Lake Tahoe (which is a biggish lake in the mountains) where I happen to fly rather often? even a CSG M8N glitches there due to multipath. not to say that I like my x2 a lot due to the simple pin headers and smallish design. but I really need this worked out before I can fly it where I often need to. 

Correct, but I don't think it's well tested yet. 

I had a flyaway on rc10 w/ my auav x2, and still don't know why...
I dropped from 11 to 10 satellites at the time, but I'd think the average between the remaining 10 satellites wouldn't be WAY off from when it had 11!!

Is there something we can look at in the logs that shows a definite GPS glitch?  Other than simply looking at satellites and HDOP?  (sorry, I got off topic here.)

IMHO the problem was, that the firmware, while running on an X2, always thinking "I'm running with USB connected", in this way Batt-FS and EKF was permanently switched OFF.

For me this problem is solved since RC9.

You can check it in log-files by the 9th bit of the DU32 message.
"1" means USB-connected.

PS: The problem has been reported in your thread:


Scott are you using two GPS?

No, only one.. 

I've got two copters, one has an H.K. m8n, and the other has an RTFQuads m8n.  They both show the same drift. 
I've ordered an expensive csgshop one, to see if it really makes a difference, like some others here have said.  Probably be a week or two until it's delivered.  

You got me wrong. I meant,that nobody reported or claimed to have a problem with it. Your links are refering to MSDigital (You ?) who´s been quoting diydrones and Nick, who claimed to work on it. Well...

Russish roulette ??? Well, if I would be concerned that way,I´d change the controller.

But I don´t see any evidence that flying the X2 is more risky than flying any other PX controller. I guess,already couple of hundreds around since 2014 and I don´t see any unusual X2 related reports @ the forums, like e.g. LSM failures or other stuff which happened with PX clones..

And yes,I did a couple of flights at the baltic sea, but most of the time within my foresteal area,center of Germany.

And the X2 always behaved reliable. (in conjunction with my proper builds and yes, big CSG,DroTek XL and VR GNSS since I don´t use the NoName Cheapos anymore)

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