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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Has anyone successfully set up telemetry data through an FrSky FUL-1 module > D8R-XP > Taranis?

I followed the latest guide on arducopter, wiring is correct, settings in MP are correct for serial 2 (no hardware flow control, 9600, protocol 3 for D-Series Rx).

On the D8R-XP I have the Ful-1 plugged into the digital data port. Re-confirmed wiring is correct for rxt / tx lines in and out of the Ful-1. Using Telem2 on PH / Serial 2

The Taranis is not receiving anything for Vfas, Fuel etc. so I'm rather stumped.

Is there another step required such as lua script on the taranis side? The OpenTX guide is rather sparse.

Hi Devs! Is it now possible to transfer telemetry data to an graupner HOTT system?

Is there a current issue in AC 3.3 where serial 2 / telem 2 does not transmit FrSky packets? I've spent all day trying to get the FrSky telemetry to work (Pix telem2 > Ful-1 > D8R-XP D port > Taranis Plus) - including trying OpenTX 2.1, and no dice.

I really need some input from a dev on this as I cannot find any notes / instruction other than what's published on ardupilot website. I've followed all of that to the letter.

Perhaps the issue is not on 3.3 but OpenTX 2.1.x has completely revamped the telemetry system. Part of that revamping is that no sensors are pre-defined, and must be "discovered" on the fly using the telemetry screens for each model.

Not natively. I believe there are options using external "translators" based on Arduino's and/or Teensy's that convert Mavlink telemetry to HOTT.

i know - let's completely forget about version 2.1 - i only tried that as a last resort out of well, nothing else to try. I am back on 2.0 and still no dice. I run OpenTX 2.0.17, AC 3.3 RC12

The Arducopter instruction page clearly shows using telem2 port for connectivity to a D series Rx through the FUL-1 module. So it would be surprising in there was a packet transmission issue, but that is what someone on one of the forums told me.

If you mention the answer you got at RCGroups, forget it.

I have telemetry running on 3.3RC12 on every port I choose, (Telem1,Telem2,Serial4) as long I have it configured to do that (SERIALx_PROTOCOL), which in my case I have it as 1 because my FrSKy telemetry system is based on the Teensy.

thanks but I'm not sure you are aware that my solution is different than yours- the process I am using is the only documented process on arductopter. again I'm aware there are other ways to do this, but it is not what I'm asking for help on. 

One of the dev's here has to hopefully be familiar with the outlined telem2 hookup for frsky protocol 3 > ful-1 ttl-rs232 > d8r-xp receiver > taranis plus

What's odd is I get FAS reading of 1mah - but my batt is 8000mah.  If I move the connection from the FUL-1 to use the RX/TX D port instead of A2, then I get board voltage reading on A2 in Taranis. but the board voltage is artificially 2v higher than A1. 

So the FUL-1 is outputting something- either it is not outputting correctly or OpenTX 2.0 / Taranis is not interpreting correctly.

I can't test your setup, but the code hasn't been changed on that area (from the commits list), but have asked to someone that can test.

Do you happen to have a regular FrSky sensor that you could use to test FrSky "standard" telemetry with your Dseries receiver ?


I agree with you that there shouldn't be any difference to the compass calibration results depending upon how the compasses are calibrated (how many, in what order, etc).

.. and as you guessed, it's more of a mission planner question I think.  The compass calibration logic is completely within the mission planner.  For Copter-3.4 the calibration will be moved to the vehicle (it's already in master).

Yes, sorry we can't get all the requests.  There are a limited number of developers and over 237 outstanding enhancement requests.  ..and the number of requests grows faster than they can be completed.

I've just had a problem with there being 4 more images than cam trigger events. (224 images, 240 trigger events) on RC11 during an auto mission. Previously I've only ever had more trigger events than images when the camera couldn't keep up, but it can easily keep up with the rate it was being triggered here.

Does anyone know what could be going on?

There's a log over on the thread about it.


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