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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No that is not it. I am not talking about selecting RTL manually on Ch5. That is self explanatory, right? :D

I need to know if RTL is invoked automatically by the FC for whatever reason (fence, voltage etc), if RTL is transmitted as the new flight mode in the same manner (same as manually selecting a flight mode is sent over telemetry to Taranis.)

Cala I think you are just having too much fun :D

re- if RTL is transmitted as the new flight mode in the same manner

You mean does ardupilot send the RTL verbal to frysky T1 the same as if you did RTL yourself? 

sorry just trying to clarify so somebody else can let you know. Or... I guess you could set a really safe high voltage fail safe and see what it does. 


Maiden flight on ac3.3, it was really stable :)

Yesss!, I acumulate and now I have to use all together ;) ....tomorrow rainy forecast :(

When a failsafe is triggered it changes mode just like if you had manually changed it. So, yes, it will show up as RTL in your Taranis.

No that is not it- my info should be clear to one of the devs familiar with AC FrSky output, hopefully one of them is monitoring this thread.  AC does not send verbal commands of any kind over FrSky and I never said anything like that. The verbal part is handled inside the Taranis radio settings.

Francisco, thanks.  So if I set up a Logical switch in Taranis to say, L4 a=x for T1, with a value of 6 (RTL mode), and then set a custom function to call out "RTL Mode" if L4 = 6, it should work right? 

The only thing odd I saw in OpenTX is for T1, when setting up a Logical switch it only gives you the choice to set numeric degrees Celsius. So I am assuming that the flight mode values coming from AC are just a numeric Celsius value reported to T1.

Anyway, I'll test it out this next week and report back. 

Hi Randy, 

Is there a work around for my alexmos simplebgc gimbal? I was able to use it without issues on the previous 3.3 beta build. but now it seems I cannot control the pitch. Previously, i use ch6 on my radio. The gimbal was connected to aux1 like before. MNT_Type was set to servo. but now on the latest build, i cannot use it properly..

My point was is it  reported as RTL when it goes into RTL regardless of what set it to RTL. Yes.. not sure why it wouldn't.. but stranger things have happened. 

Hi Randy. I installed 3.3.1 RC1 today to test and issue which I have with no SBUS output on a Pixhawk controller. I´m trying to connect a Storm32 controller. If I make a direct connection between the X8R and the ST32 I get no problem, but I i try to make it through the pixhawk I get no response. I have set BRD_SBUS_OUT to 1

Yeah, I don't see why it wouldn't work.

Yes, T1 is a temperature, but it doesn't matter, just put 6 there and it should work.

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