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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I haven't forgot the file; worked all weekend, will get them tomorrow time permitting. Sorry.

when will the official 3.3 be released i been waiting a long time.. i see 12 rcs 

Thank you. I messed with it for a couple hours... still not having much luck.

Dear James T Kirk,

I had some OT replays in this thread which were simply ignored, and I learned the lesson.

I am happily flying the 3.3 beta without any issues from RC9 up, with my setup, but some people did or do have problems, and I am pretty sure that if 3.3 was officially out and you had any issues with it, your anger would be all over the forums.

I learned a lot about the 3.3 simply by following this lengthy thread

So you can either be silent and wait for the official version like me, or you can contribute to the beta in any way.

Or you can ask Scotty to beam you up to the new version, or just switch to DJI, Naza or anything else.

The devs are doing a wonderful work so please let them decide when it's time.

Just my 2c.

Kirk: you can get a try with carefull and returned to stab release if you don't like, for my last build, I have to solve some issues yet but this release is the difference to fly and no fly so no return for me.

Remember to save your params in case you don't like it it's easy to go back..

Had a strange behavior during autotune in rc12, when it was autotuning the roll axis it made a pause in the tune and yawed slowly 360 degres counterclockwise and then continued with the tune of roll axis? It finished all the 3 axis.

The autotune was OK when it was finished, tried it for about 5 minutes.

Am running AC3.3rc11 and have had this issue a few times where what I believe is the internal compass (magnetometer) is fluctuating quickly as if it were under vibration or something....the copter still flies ok but consumes more current and the motors sound strange. you can see on this screenshot and also am attaching the log file from that flight.

I have redone compass calibration twice and no change, it doesnt do this all the time, only sometimes (like 1 out of 5 flights).....any ideas, could the internal compass be going bad?

i cant attach the log file, is too big....will figure another way

here is screenshot...the forum is acting weird today


Devs, when you have a moment-

Is there a roadmap for support of Oneshot125-enabled ESC's?  I'd really like to convert my mini quad to run AC on a mini pix, but the present AC acro mode is feeling pretty antiquated. It cannot be tuned well for small high performance quads compared to an FC that does support Oneshot enabled ESC's (KISS, blheli, etc).   I recall seeing an open ticket in github sometime back in January, did this get any traction?  Or will acro mode eventually get dropped due to lack of interest?

Just so you know, I did try tuning a mini quad with an APM 2.6 board, AC 3.2, flew it a bit in acro mode.   Then did a comparison by changing the FC to a Naze with CF, oneshot enabled, and all of the new filtering / tuning methods associated with tuning high performance quads (dterm filters, sync gyro to loop, etc).  The performance difference was incredible. But I dislike the other fc platform hardware and user interface compared to ardupilot. If only we could have this added performance for acro / sport flying on AC!

Thanks for your attention- as always I am highly appreciative of the great work completed on 3.3.

Hi Luis- Ok so I have a much better understanding of the challenges, a very kind and helpful programmer laid it out for me. 

Sam's solution is using native Mavlink through the LRS module, and modded OpenTX code that let him compile mavlink support for the Taranis Plus.

Ardupilot FrSky output will be limited to what exists in ardupilot code for mapping mavlink data to corresponding FrSky hub protocol data. OpenTX is limited in what it can make available for telemetry keys to display the received data.

A Teensy board uses the direct Mavlnk output from ardupilot - the Teensy handles the conversion to frsky S protocol for smarthub-capable rx's, anything "custom" the Teensy code developer wants to display on the Taranis screen is done via included lua scripts.

So I guess the only option right now for a more intuitive display of telemetry data is to either use a Teensy (but unfortunately no one codes these for D protocol rx's) - or -  Stick with the simple ttl level converter and have some sort of advanced lua script on the Taranis to make better use of the limited parameters passed through from ardupilot.

Could it be the other way around? Something in the power train oscillating causing interference in the compass?

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