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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So, is that laser range finder take over all the function of barometer ?

Or, Light ware may be utilized for landing mode by the limitation of the range.

Thank you Randy for looking into this.
Please take all the time you need.

Btw it worked perfectly well with 3.2 and also no issues with Tower along with Solo.
A recent change on my end was to add a LidarLite via PWM.
warm regards

That is just a warning about upgrading to that version and the need to re do the calibration. See Note 2 in red  in top post from Randy.

thanks Randy i was hoping you and your team were involved in it in some way and i could get a sneak peak earlier...ok i lied i wanna use those features NOW! :P thanks for the response Randy

thanks for the Response Bill but i think Randy answered this question succinctly enough! the feature really does alot more than just adding waypoints, which i was aware of. 

aah, so thats means nothing to worry at all about that.. just redo calibration. thanks ^_^

I'm curious how these things work over water... can't find any documentation on that.  I emailed the company that makes the SFO2/2 about this waiting for a reply. 


Do you know if the FrSky Taranis Telemetry will be supported in 3.4 so there will be no need for a teesny board just a direct connection to the smart port on the X8R rx?  I know there were people working on that. I think that would be a huge upgrade to the copter FW as it has become a very popular radio and adds a tremendous amount of info to the pilot without the use of a separate GCS. I would even go so far as to say it adds a great deal of safety  being as one can see the battery level and or get a warning when it gets low.. let alone all the other data it provides. 

Richard, FrSky telemetry (both SmartPort and D series modes) came into support with v3.3. I was testing it just last week and it works OK. For X series Rx (I.e. those with smartport telemetry), you will need an inverter between the serial port of the taranis and the smartport of the X8R/X6R/X4R. There is a discussion on this very subject here: https://github.com/diydrones/ardupilot/issues/1587 plus details of how to build an inverter. I personally chose the  TTL-RS232 convertor plus diode method and bought a bunch off aliexpress. If you are in the UK, I'd be happy to send you the components for you to build one. This is basically the beastie (link from that same github conversation):

Here are the parts:



plus you will need a DF13 6 pin connector to connect to the serial port (I tested mine on Serial 4/5 port) plus the regular 3 pin servo connector for the X8R/X6R s.port end ( or the wee funky connector if you have the X4R).

The only thing really missing is a cool LUA script to give a really nice display of telemetry data. Because of this omission (and my lack of LUAbility ;-), I decided to stick with the Teensy 3.2 method of converting the Mavlink telemetry to FrSky S.Port and the LUA screens provided here:


Works a charm! Good luck.

Thanks for all the info!! I thought the LUA script I had now would work but I guess not because it works with the teensy exclusively? One problem I'm finding is each time there is a copter FW update or a Taranis update it can screw up the Lua script and or not work well with the teensy FW so it's a lot of messing around to keep it working. I had thought once it works with the copter FW this would reduce or eliminate that issue... perhaps it will in the future? Thanks for the links I have them bookmarked!!! 

Note their reply. I'll be buying one next summer! Good to know they have worked on the over the water issue!! 

"Dear Rick,

We have a new unit that will launch officially in February, called an SF11/C.
This product has the best performance over water. We would not recommend the SF02/F.
It is very similar to the SF10/C, but with improved performance over water and a retail price of $249.
We will have stock during the next few days and are selling these to select customers already.
Let me know how else I can assist.

Kind regards,"

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