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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Hi Leonard,

sure here are some pics

This pic is from the build off, in the meanwhile i replaced the pixhawk mount with the other type usually offered on the marked which has the flat plates with 4 holes for the rubbers.

This is main view, the copter i perfectly balanced, the weight focus is in the Middle

Hi Pomaroli,

Well, this may be caused by the flexing of the frame but I am coming up empty. The only thing I can suggest trying ti setting Autotune_Aggr to 0.05. However, if you are happy with the tune you have now I would just relax and enjoy flying the copter.

Sorry I can't help more. I will keep an eye out for similar issues with other copters and see if I can work out what is happening.

Thanks for taking the time to give this feedback!!

Hi Trent,

An overheated ESC would definitely fit the bill!!! That would explain why you didn't loose all power. Being your first flight going that long and with extra weight all makes sense.

As you said, that flight doesn't show any signs of the same problem.

Good luck and let us know if you learn more!!

you're welcome leonard and sorry for my poor english sometimes.

Hi Zhang,

I changed EKF_GPS_TYPE to 3, but there was the message “Pre-arm: need 3D Fix” while arming in Loiter mode. Could you attach your param list of craft?

Thanks a lot.



Today, a windy day (as usually here) I try Richard recommendation to cover the Pix not to loose altitude, I used a salad bowl and works GREAATTTT!!!!!, It's impressive to watch this copter flying with this wind :O , impressive code too, Many thank's Richard and Dev Team :)  :)  :D

The only thing I don't feel comfortable with this vers is that if I change from stab to Pos hold and throttle isn't in the middle, the copter loose altitude very fast, that didn't occurs for me in older vers; It's only a detail but a newbie perhaps can crash if surprise him/her. But I don't change this vers for nothing older, It's looks much better for my complicated cuad

Richard: You can't find a solution for your Tanaris yet? .

Cala - i had similar happen until I accurately set my throttle midpoint.  looking in my flight data log my hover is at 33% throttle - i changed my mid throttle to reflect that.  now there is only a small difference when switching between poshold / althold and regular flight modes like stab / drift.  Also i changed my althold deadband to 50 from the default 100.

btw I use the rctimer.com plastic dome and flight deck combo to house my pixhawk lite FC- it is not expensive and works great.

I've learned very quickly to get the throttle stick centred before switching to Alt Hold! I think a delay on the switch and a centre stick reminder might be good. Time to tinker with my Taranis! :)

Tested my height following with lidar today. Passing close over my car ( noooooooo ) and even over me and it works beautifully. My only comment is that we need some indication of what is in charge of height,  ( as opposed to altitude ). An indicator on the GCS that the vehicle is height controlled ( sonar/Lidar ) as opposed to altitude ( Baro/GPS )  would be nice. Perhaps even an added channel control to follow sonar/lidar - terrain following?

copter 3.4 anyone?

Thank's Kurt, I'm going to play with dead band perhaps solve, I'm going to re-check the mid throtlle in case too.

This disposable salad bowl is very similar than RcTimer one, fix perfect on my cuad and is very light....now I'm dieting to have more domes ;)......perhaps looks horrible but I'm so happy than I look nice :D

very nice innovative solution. you may want to spray paint the inside of the bowl black, tape off an area inside the bowl first, in front, over the status lights so you leave a clear "window".

hey guys - on the motor test tab in MP, does "A B C D" correspond to "1 2 3 4" as far as motor orientation on the 3DR pixhawk page for X quad layout and pin assignment?  I have no idea why MP is using ABCD instead of 1234.  no one uses that...

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