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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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? 

OK, for a first time, I think, ever, I got an error from MP software claiming 'query error' when it tried to download firmware.

I just updated MP to latest beta and tried to flash 3.3-rc1 it fails every time it tries to get a firmware file.  

It is same error for quad and hex.  


im installing APM:COPTER V3.3.2 quad fw, but popup a warning saying that im installing AC 3.2, is it normal or something wrong happen? ty in advance for the help ^_^ 


Thanks for your intelligent contribution.  As you can probably tell I chose my name specially so people who sound like moronic teenagers with room temperature IQs can feel superior to themselves.

To Stephan and the rest of the thread apologies if I didn't come across well, I was just trying to be helpful but guess I didn't achieve that.  Actually I did spend quite a bit of time looking at the log - as I often do in the background to try and learn about bit more about the inner magic of the firmware.  Relevant EKF looks OK at the time, it's worth noting you have reasonable vibrations at times and a bit of clipping but I don't think that's relevant to this issue, but around about 4900000000us there's a sudden yaw and change in direction.  My kung fu isn't good enough to tell why exactly and point fingers so I just tried to point out that it's not uncommon for this to just be the FC doing what the GCS tells it to - it doesn't look like a fault, it looks like a deliberate change, and there's no indication of an error or failsafe from the FC and there's no modechange so it implies this comes from the GCS - I don't know how to read the GCS commands so I can't say for sure.  Hopefully Randy will be able to actually tell you what happened.

Let's all cool down here.  No more comments on this until I review the logs please.


No, I'm afraid those features are in the Solo's companion computer and are closed source.  It would be nice if it was all open souce and that could be done if a community developer went and re-implement many of those features in an open source way within ardupilot but for the moment, I think the dev team has it's hands full with lots of other things.  I think it's also fair that manufacturers using ardupilot (including 3DR) be able to differentiate themselves with features that specifically suit their market niche.

You can already do spline waypoints which is essentially like the 'cable cam' and free look camera with ardupilot, without the companion computer. The cable cam feature on the solo adds ease-in and ease-out to flight speed. That would be cool to add to missions in ardupilot.

Yes, that's true but Solo's "cable cam" also controls the gimbal though and allows the user to pull back on the sticks to control the vehicle's position along the virtual cable I think.

I don't mean to say it's anywhere near as refined as what in the solo it's just something similar.

Stephan (sorry for the incorrect spelling before),

     I've recreated the problem very easily and I'm digging into the cause but I haven't figured it out quite yet.  I'm not even sure yet if it's in Tower or Copter.  I'm going to be off this afternoon and tomorrow so unfortunately this bug is going to survive another 48h but it's top priority so it won't make it 'till monday I predict.

     Thanks for reporting this!

As reported by Stephan above, there's a bug which can cause the to speed off when Tower's Pause button is pushed.  The cause is not yet clear but we're looking into it as a top priority so we will get to the bottom of it.  Until we know the cause, please do not push Tower's Pause button.

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