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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re-boat mode- It's my understanding it will for sure be in beta 3.4 probably in January.  I tested what they had so far and it worked perfectly!! 


I am no longer able to connect to my Pixhawk via Bluetooth using Mission Planner since the 3.3.2 update.

I am using a HC-06 Bluetooth module and it is configured properly. The "Reset APM on USB connect" is unchecked.

The bluetooth connection works using Tower Android app.

I am running the latest Mission Planner.

I have set the baudrates on my PC bluetooth serial port correctly to 57600.

What could be the problem? 

I found the issue but don't understand why. It is the Garmin Astro dog tracker and the 1.2 GHz video transmitter interacting. I was mistaken, the dog tracker is actually transmitting in the 151-154 MHz range. With the video transmitter and the dog tracker off I see no issues, same with the video tx off and dog tracker on - no problems. Both on and it twitches, sometimes severely. I believe the current drop is just a response to this and we see it go to 0 because I am only monitoring one of two battery inputs.

I tried moving the dog tracker all over the copter and it didn't help. I'm not really sure why this is happening at such different frequencies. Would love to hear any theories.  

Great. Thanks.

It's worth checking the other serial settings on that port - I had my serial settings reset by a recent firmware upgrade (I think).

hmm, will check, but it works with Tower Android app, so the connection itself is working I guess.

Hi Leonard,

Two more autotune logs with AUTOTUNE_MIN_D set to 0.001 attached. Reasonably calm for this time of year.

I started with my manual tune of 0.15/0.0466/0.0016. The first tune resulted in a flyable copter but a bit of a softer feel. The second tune in which I started with the results of the first tune was unflyable and I didn't accept the tune. It still seems to me that P==I is the problem here because I needs to stay low and P needs to go higher.




ok, I think it's related to my windows bluetooth driver..

Hello .. got a bit of problem after changing one of my ESC that burnd out .. i alsow updated to APM:copter v3.32-rc2 and having some problems that im not shore how to fix.  the copter feels werry unstabel and hard to keep altitude . i have tested to change  both trottel midhold.. and manual tune it.. always making it wors so i hade to go back to standard . auto tune is a no go sins i cant get althold to work agen.. i some times get BAD ACCEL HEALTH. after i upgraded to this verson .. it might have somthing to do with im using a clone im not shore..

.. maybe some one could have a look on my log.

frame is H4 quad  670mm

3108 700kv sunnysky  with 12 inch carbon props

multistar 4s 8800mAh batt.

Pixhawk clone  ..


3.4 When I did do auto tune it only did pitch for about 2 minutes. It never did roll or yaw and even the pitch was very short. Also http://ardupilot.com/forum/viewtopic.php?f=82&t=14544

I take it 3.4 is only something for the brave to try at this point? While I do have a test quad for experimenting, a death wish for Dixie Cup is not desirable :)

Yea probably not the smartest thing I've done flying pre- beta.. But  I've been very keen on boat mode and it seems they have that worked out. 

[MAV 001:1] APM:Copter V3.4-dev (f60f0e80)

[MAV 001:1] PX4: 546f2064 NuttX: d48fa307

[MAV 001:1] Frame: QUAD

[MAV 001:1] PX4v2 0036002D 30345101 37383933

I went through 4-5 batteries with no issues in many modes. 

The only thing I notice is it takes longer to arm. A couple times I got some weird stuff.... 'new home location'....Sounded off on Tower even though I had 18 sats at the time. One time I did RTL and it went 1000 feet from where it should have. cmmmmmm who knows... but never any stabilize issues. 

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