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!
Replies
I don't think you could say that the peaks or the plateaus are more accurate. What is happening is the accels are sampling at very high rate, and reporting unfiltered data. Arducopter is only logging at a relatively low rate.
What we could be seeing, is something like a beat frequency from several vibration sources, and the low-rate sampling is only picking up the peaks relatively rarely. Full-rate logging would give us a better picture.
Exactly, it looks to me very strange and suspicious cyclically, as if something had ended and began, a filter, a loop program ?. Once again, I checked the drive, and it can not be a better balance, carbon frame, rigid, propeller only 12 inches, engines E-max 3506 650kv, before I flew on 15 and 18 inch propellers and had less vibrations). Anyway, it's great, new soft, tests are needed
I imagine this has more to do with the changes we've made in the filtering and accelerometer scaling. AC3.3 is more resilient to high vibes but I wouldn't be surprised if it also shows vibration more accurately now.
Hi, thanks for the information. So, is it acceptable vibration standards will change? from + 3-3 and -5-15? Do I have to worry vibration level? Besides great work
We need to discuss this more before we can give new guidance on acceptable vibration levels in the logs. This is early days in beta testing this new code still.
My feeling at this point is that what you have in your log will be fine. What is probably most important is that 90% of your data looks good, while 10% appears to be spiking outside the normal range. If you're not having a problem, I suspect it will be fine.
It is a pleasure to help.
https://www.dropbox.com/s/94qfz2plg5b9zif/log%20alien%201.rar?dl=0
https://www.dropbox.com/s/31gnx0snx5mltri/log%20alien%202.rar?dl=0
thanks
Plus 10 !! Yes I think it should named 4.0 just the facts .. dropped APM Also EKF on as default ..etc .. as you guys say there has been a lot of changes .. why not let APM 8bit have .. 3.2.1...2..3..4..5.. etc and 32bit controllers Have 4.0 ...1..2..3..4 etc
@Dom,
It's not looking great for this weekend. A lot of changes have gone in over the past two weeks and there have been some complaints within the dev team that it's become very hard to get the EKF position estimate to settle so that the pilot can enter Loiter, etc. We need to resolve that before we push it out or it will just annoying everyone far too much.
The problem is basically trying to walk the tightrope between EKF initialization being too strict and taking too long. Or being too lax, and having bad initializations leading to potential crashes.
This post is actually about an incident with a 3.2.1 large quad, but the fix should go in the next release. I have been flying a very large 14kg quad and all was going rather well with the exception of a lack of power. But what happened was avoidable by myself and by the firmware.
I had a brown out due to a bec on the servo rail providing voltage at 5.8-5.9 instead of the 5.5 it was supposed to be putting out. Running the auto-analysis in mission planner never raised any red flags about this high voltage.
I could have prevented the total loss of control by having a second bec providing power via the pwr module port, but I did not. Live and learn.
What I would like to see is a VCC failsafe. for instance, if a bec is providing power via the servo rail and is going above the 5.7v allowed it should trigger a warning, and not allow you to fly the copter. This failsafe can be manually overrided in the parameters, but for the casual public it should always be on. Maybe a warning at 5.6, and then completely prevent arming at 5.65?
Also, why would the auto-analysis not warn me of the high voltage?
Thanks for all your work! If I could write code, I would be all over this project.
Cheers!
Craig
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