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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Did you calibrated your ESC's after adding a new one?

It could be that the new ESC is out of sync with the others.

That would be the first thing I would do after changing one of the ESC's.

thanx Igor .. yes  i did calibrate the ESCs..

I have bin looking around here on the forum now for any thing simulare.. starting to belive its the cold wether.

but i dont know sins i have not hade it up flying good before the cold wether started here,

maybe some one could confirm  that if i disable the 2 IMU it would  be better ? no when this cold wheter fenomen for pixhawn happens dose the craft become unstabile?

Good Morning (=
I have done some testing with AC 3.3.2.
Maybe I found some bug. Maybe.

1)I attacched 3 compass 1 internal to the PixHawk and 2 to the I2C.
I can start the compass calibration, but it read only 2 compasses.
The strange thing is that it seems that the data by external compass 1 and external compass 2 in a certain way interferes with each other.

If I disconnect one of the I2C connection all work right, and I have no problem with compass calibration.

2)Landing Gear Function with AC3.3.2.
If I attach and configure the Landing Gear it happens that at the boot of Pixhawk the Landing gear goeas up.
After the boot is finished, the Landing Gear goes down.

But why at the boot the Landing Gear goeas up?
Maye the PixHawk emit HIGH PWM signal at the boot?

It happens with Radio ON also with radio OFF.
So it does not depend by the radio or the switch position.

I had tryed in so many ways but always the same result: gear up at PixHawk boot.

You can not use 3 compasses. The 2 external compasses have the same i2c address [this can not be changed until the makers of the units pull their heads out and allow us to set the i2c address ourselves] and since they both have the same i2c address the flight controller can't control them. Where did you see that it was a good idea to try to use 3 compasses?

I WISH I could get my gear to go up or down using the hawk. I have to attach mine to my RX directly and just use a switch on my Taranis. Works fine but still annoying.

I do not see that is a good idea using 3 compasses XD I simply would like to test. I like to test new things. So after the test I reported it.

About the landing gear. Any solutions?

Hi I us the gimble channel and rc 7 to make my landing gear go up and down

My Bluetooth connection also doesn't work any more after updating Mission Planner 1.3.32 to 1.3.33.

Worked again after downgrade to Mission Planner 1.3.32.

I'm using F2M03GXA bluetooth module.

I somebody could confirm I would open a ticket in Guthub.

I did some debugging on 1.3.33 code.
Seems that when mission planner try to open serial port, it runs some fix port routine and also tries to write data to the socket. I assume that it does make sense for some scenarios but for bluetooth it just kill the po port. Commenting this lines do open the Bluetooth with no issues.

What happens if you apply 5V from a BEC to your landing gear while the signal wire is disconnected ?

It depends on your landing gear controller, but hopefully nothing happens.

if you are using Tarot medium and large landing gear you can very well fry your landing gear controller, lookup on rcg I've posted couple of pics where power protection circuit is untouched, while the microcontroller chip is fried. 

That's good to know. The only thing holding me back has been the extra weight, but hear many stories of the LG failing.

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