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!

Views: 375199

Reply to This

Replies to This Discussion


Video tracking can be easily implemented into your drone

since video object tracking is a standard feature implemented into security, monitoring cameras today.

I have presented paper on tracking flying objects by a number of smartphones to get track calculated on the fly (meteor fall)

at Vienna Conference.

Moving object tracking by gimbal camera can be implemented as a default feature if there is any interest shown among drone pilots.

Just let me know.




I know some people worked on the method to track a moving ROI, so to say, but I have no clue where this development is now. If there is a simple solution for that, it would be great to know how to do it - to get drone up and film a car on a track, or a boat on water with automatic landing to this ROI location as well.



if you mean personal driver's drone as one offered

by Rinspeed Etos and landing on a moving car,

I can implement such technology if budget is secured.

I have offered Rinspeed Company from Switzerland   Pizza Delivery Drone and Mind Controlled Drone technologies since they have budget to fund these technologies and implement them into consumers' market.


If there is a simple solution for that, it would be great to know how to do it - to get drone up and film a car on a track, or a boat on water with automatic landing to this ROI location as well.

The issue you methioned happens here with My Autopilot, with Copter V3.3.2, the EKF status of compass just goes red on my desk when I just rotate the autopilot by 90degrees.

Have you resolved this issue yet?

Make sure you have your compass orientation set properly. At some point in AC releasese devs changed default compass orientations, so what it usd to be roll_180 now is orientation_none. 

Ran into a strange defect with AC 3.3.2 and Tower latest release today. Was my fist set of flights in FollowMe with 3.3.2

1. Fly in Guided (Follow Me)

2. Press pause, the copter will accelerate immediately and fly off, can only be saved by switching into another flight mode via RC control - Loiter in my attached log.

The defect is fully reproducible, I tested this twice in 2 separate flights after a power cycle in between.

Very annoying and dangerous. W/o the RC transmitter in my hands the drone would have gone straight off and crashed somewhere. Log file attached.

Thanks for the report.  I don't see your log file attached..

Thank you very much for your reply!
Your analysis really help (=

I have solved the problem: one of the motors was a little inclined. I didn't noticed at a first look!

Thank you again (=

Hey guys just thought I would pop in to say I have just got this working...mostly. I am using a Basecam 32 bit 3 Axis BGC and successfully controlling it using Serial 2 out of a Pixhawk 2 (From a SOLO main board but I think it would be the same on a Pixhawk 1)

Connections are such:

Pixhawk Serial 2 Tx -> RC_ROLL

Pixhawk Serial 2 Rx -> RC_YAW

Settings on Pixhawk:

Serial 2 BAUD rate: 115200

Gimbal Type -> Alexmos Serial

+ assign control channels (eg mine are RC5 and RC6)

Settings on BGC (Basecam):

RC -> Input Mapping -> RC_ROLL pin mode -> SBGC Serial API 2nd UART

I have this confirmed working, though I have the following issue:

The output to the gimbal is only changing at a set rate, regardless of the speed at which I change the input. For instance, if I try to pitch down within a second, I see the RC6 input changing correctly, but the gimbal changes speed at the same slow rate, resulting in a significant lag. I have tried changing setting on the BGC to no avail - if I control the gimbal with PWM and the same settings the gimbal moves as fast as I want it too. Thus, I am fairly certain that it is an issue stemming from the flight controller. 

Randy, perhaps you may be able to shed some light on this for me?

Sorry Randy - forgot to attach the logfile.

In this log, I was flying in RC controlled mode, always connected to Tower.

I landed, disarmed, then re-armed in Tower, pressed Takeoff and went into FollowMe. Then I pressed Pause and the drone immediately banked away. I could rescue by switching flight modes on my RC. (in panic I switched to Auto for a split second - this was not the reason)

I reproduced this in another flight, after pressing Takeoff in Tower, I pressed Pause when the drone banked away again.

I would classify this as a "flyaway" kind of defect. AC3.3.2, latest Tower release, Lidar enabled.

Thanks for looking into this.


That's a little dramatic :)

Well for someone less experienced it would have likely ended crashing somewhere in the wild.
So yes, I would consider the incident serious.

Apologies, the f-ing forum software truncated my answer again..  I was also  trying to say that the term 'flyaway' seems to be used for circumstances where you lose complete control of the craft and nothing you do regains control.  There are lots of circumstances where it can behave unpredictably or erratically in various automated modes (toilet bowling, gps glitches, various recovery or failsafe actions, gcs bugs etc etc) but if you can flick it back into stabilise mode and regain control or into RTL and have it return, then from what (little) I understand then this isn't classed as a 'flyaway'.  In guided mode you're somewhat at the mercy of the GCS, although it's possible it's a bug in the guided mode itself.

It's an important distinction - phantoms are well known for proper flyaways where it's impossible to regain any kind of control, whereas it's extremely rare in APM (not bashing phantoms, just an example that comes to mind).

Reply to Discussion


© 2020   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service