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

@Fnoop thanks for education. I am using FollowMe since its introduction extensively in my DIY stuff and with Solo, and know how it works.
Call it whatever you like, but having the drone speeding away when you hit Pause is not what you want.

@Randy thanks for having a look, if you need more data let me know.
Here is a short video about the incident

I wasn't trying to lecture you, just point out the fault might be with Tower not APM and it's not uncommon to hit glitches in the more complex modes.  Hopefully Randy can narrow it down from the log.

You may notice that Copter-3.3.3-rc1 is now available through the Mission Planner's beta firmware link.  It's a fairly minor change as you can see from the changes below (and Release Notes here) but any testing would be appreciated.

I must admit it got dark before I was able to test fly the exact firmware that the MP is dispensing but I will tomorrow morning and report back (I'm 99% sure it's fine but you might want to wait 15h just in case).

Changes from 3.3.2

1) Restrict mode changes in helicopter when rotor is not at speed

2) add ATC_ANGLE_BOOST param to allow disabling angle boost for all flight modes (requested by XCraft whose vehicle provides lift when leaned over)

3) add LightWare range finder support

Thank's Randy, any LightWare model is included? this is included?  http://www.lightware.co.za/shop/en/proximity-sensors/24-oslrf-01.html

fnoop dogggiee lost interest reading your comment past your name and first sentence. But i still did....

What Stephan is experiencing sounds very troubling. And you are not helping ANYONE with your comment. If you want to help try to reproduce this issue yourself with logs to see if more people see this issue and not just BLAH BLAH BLAH and BLAH

I don't think that oslrf you linked above will work because it's missing the analog and I2C interfaces.

By the way, the analog Lightware range finders were supported from Copter-3.3 but it's the I2C connection that's new with this release candidate.  Sorry, the release notes are not clear on that.

I've never personally used the Lightware rangefinders but Tridge really likes them and says they're very reliable.  From looking at the website I would go for the SF02 with the 50m range and $300 price.  That's not particularly cheap but that's what I'd go for if I were in the market.

I've test flown this this morning and it flew beautifully.  Thanks everyone for your help with the beta testing!


I didn't get to this today but tomorrow for sure!

Tried this today with fw 3.3.3 and tower app.

Just to make sure that I did everything the same way:

  1. Armed in stabilize and took off
  2. switched to pos hold 
  3. switched to follow me in tower
  4. walked around with the drone following
  5. switched to pause in tower

The drone did what it shoud - it stopped in Loiter.

Did this error only happen when drone is armed via tower?

Hello, with the CES 2016 Announcement of Multi point cable Cam and Follow Me Free Look, is that something that would be available earlier in Pixhawk as a flight mode as opposed to the SOLO App? thanks in advance


Hey Randy, I think it would bring a lot of benefits to integrate RSSI from ppm stream from one of the channels, like it is already done in Ardu Pilot firmware, are there some resources issues or its simply didn't make it yet into the copter? 

Reply to Discussion


© 2020   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service