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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thank you for your comment.

Meanwhile, one hexa flipped over due to a very bumpy landing in RTL.

(No damages)

With 3.3.2  version, the copter landed always smooth and without jumping in RTL.

Now with v. 3.3.3 it bumps several times and also jumps sideways before coming to a stop.

We'll recalibrate now from scratch. Something is' t good.

What parameter should I change to soften the landing in RTL?

The final stage of landing speed is determined by LAND_SPEED parameter.

For the first stage of the RTL uses WPNAV_SPEED data.

By the way, we're going to separate the upper landing speed in Copter-3.4.  So there will be a LAND_SPEED_HIGH parameter added.  If this new param is left at zero (it's default) it will continue to use the WPNAV_SPEED_DN but if it's set to some other (non-zero) value it will be used.  This will allow people to set a much higher WPNAV_SPEED_DN without having to also having the top section of their land last be very fast.

So if it got set to LAND_SPEED_HIGH 5  AND WPNAV_SPEED_DN TO 1 it would descend faster at first then slow down to the slower decent or do I have that backwards? 

Ok, so once it switched to Land mode (or RTL-land or Auto-Land) it would descend at 5m/s until it reached 10m above home and then after that it would descend at whatever LAND_SPEED is (by default it's 0.5 m/s).  If though during a mission the vehicle descended, it would descend at 1m/s.

Is it possible that the latest firmware reports things like "bad gyro health" more often?  Sounds funny, but I've been getting this message sometimes during flight or just hooked up to the computer making param changes.  No effect of flying so far.  I had two previous Pixhacks with this error, but they didn't clear and had to be returned.  One of the Pixhawks actually crashed.  I was under the impression it was definitely a hardware issue.  Should this autopilot be retired?  The message has shown up 3 times this week.

excellent idea!!!!

I am so pumped for 3.4......


I can confirm this. (often the bad gyro health 'report')


The last time this occurred it was because of slow loops due to new code. Although not much has changed it is a recompile and some things have changed - I wonder whether this is a timing issue again and whether you need to adjust the loop timings.

That error can appear for a few reasons so it's hard to be sure but if it only appears soon after startup then I wouldn't worry too much.  If it's appearing in flight then I would worry and would probably replace the board.  Looking at a dataflash log and checking the IMU messages's final two fields (AccHl, GyrHl I think) which have the accelerometer and gyro health would be good.  If it's changing between healthy and unhealthy or one of them is always unhealthy then it's most likely a hardware issue.

ok, thanks for your comment :)

Is it enough to have the LOG_BITMAPS = 958 to see that later in the dataflash log? (Pixhawk)

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