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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Thanks, it definitely does it without the motors being powered.. I can rotate it in my hand and it does it. 
But, it's really random.  I'm doing it now.   Powered up, only about a pixel of green showing at the bottom of the EKF compass meter.  I rotated it 180deg, and it went all orange.  It slowly dropped back into the green over a minute or so.  Now I'm rotating it around in the exact same spot, and it's staying in the bottom 1/2 of the green. 

Well, I'm not asking for help, so I'll drop the subject.. I just wanted to mention it, in case it was an issue or other people were having the same thing happen. 

Are you doing this indoors anywhere near say a PC or speakers or anything else large and metallic?

Does it do so outside when you're not around anything such as a car or anything else metallic?

Good simple test to do, I'm going to try too, flags help a lot to do it easier, thank's for the tip Andy

(my graph is outside on the open field)

With good calibration I cannot get it above 0.5 even when turning it quickly. If it happens when you turn it slowly then something is up - either calibration or local interference. Hard iron and computers are bad - but you only have to be a meter away or so for this not to matter much.

What FC do you have, have you run compass mot?

Managed to get some testing with both a Hexa and a Quad, both with a clean install of RC12, i.e. running default values. Did calibration of radio and compass at the field on both uneventfully. Did not have opportunity to run auto-tune or even manual tuning.

Both copters flew admirably well, and a friend that was with me at the flying field and uses PixHawk on planes was overwhelmed by how good both copters flew.

@Randy . IMHO 3.3 is ready to rock'n'roll. Press the button :)

Bad note to this is downloading logs using MissionPlanner, that keeps throwing out errors but thank god for MavProxy or even APMPlanner





Dave,  MAG_ENABLE is not the param you want. Look for COMPASS_USE in the full param list. You can enable/disable each compass. I haven't tried this, my compass works great and I found all 3 enabled and I don't have a #3 compass. I have never don a compass_mot cal. I just assumed I am using the external compass on a mast. If one has failed, turning it off could get you flying. Maybe I should do a compass mot cal in case I loose the primary compass.

It does it when I'm up in the air, so it's not a metal object causing it. 
I have done a compass mot, and I have recalibrated several times. 
It's an auav-x2, with external gps/compass (currently, csgshop).

But, sounds like others aren't having the same issue.  So like I said, I'll stop talking about it here in the beta section. 

I probably just need to drive somewhere else to calibrate..  Every room in my house has speakers. (I build hi-fi amps as another hobby.)  My yard has metal sheds and porches.  Mostly aluminum, but some iron poles. 

Sounds like these could be causing some calibration issues.

Thanks Andy and Craig.

Make sure you don't have the problem I had - AUAV-X2 + ACPS3 give spurious current readings when the battery is not connected. This means that the MOT offsets will be applied even though there is no interference - leading to a very unhappy EKF when on USB power. Try setting COMPASS_MOTCT to 0 just to check.

3.3 c12 seems to have better alt hold than 3.2. Mine use to ascend going CCW and descend CW or vice versa I forget. But doesn't seem to do it at all now. 

I agree, were I have Pix with int compass, APM compass with 3.2.1 didn't works. I need more calibration but difference is noticeable.:)

Randy,

I have a unique testing situation where one of my PixHawks has a faulty Gyro2.
It's really all over the place, completely FUBAR.
It won't stabilize at all.

So I was glad that in v3.3, there was an option to disable Gyros.
Since I set "INS_USE2=0", I can now use this Pixhawk with only the single Gyro1 working.

However, the settings doesn't always work, specially during initial boot.
Most of the time when I plug in the battery, the second gyro is still having an impact, and I get all kinds of EKF, GYRO, errors.
I usually need to unplug the battery a couple times in succession, before Pixhawk ignores Gyro2 values.

My point is that the Gyro disabled function, should be before any Pre-Arm checks.
I haven't looked at the code, so I am not sure how it is now.
But Pre-arm, Nav checks, definitely still check gyro2 even though its disabled.

I also have my settings to skip INS Pre-Arm checks for this Pixhawk.
Allowing it to eventually arm and use GPS modes.

if you plan on making any code changes to how the INS_USE variables are used, I can test for you if its working, with my crippled Pixhawk.


Also I can confirm that EKF errors do recover better, as per the release notes.

Alex, one difference that would occur when testing Throttle FS, would be that if you have GPS, it will RTL.  If you don't have a GPS, then I believe it will basically go into Alt Hold and land straight down.

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