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
@ Dev team,
RC Inputs. Is there away to using channels RC13-16? The Taranis (and many others) has loads of switches, especially with the 6 position mod and I would like to add just a couple more switch options.
Cheers, Mike
Mike,
There's no way to use channels above 12 I'm afraid... but with this new release we've just expanded the aux switches so they can be assigned to ch7~ch12 (instead of just ch7/ch8). Do we really need more than 6 auxiliary switches? At some point I think we should instead make all these aux features available through the GCS which has a much richer interface and doesn't require any set-up by the user.
Did some more testing with Altitude and let the copter sit a while outside. Then flew for a while and landed. Altitude was close to zero when landed. Altitude does not reset until the power is cycled. Variance seems to be caused by temperature changes.
https://youtu.be/ckY_XuoxMEU
Paul,
Your work is brilliant,
Comparing to the "Rolling Spider" from Parrot, the performance is almost the same level above rich-textured ground.
However, the roll spider seems to be able to catch more features, and it flies well above ceramic tiles. For PX4FLOW textured cloth must be placed on the tiles.
Could the frame rate of PX4FLOW be slowed down to catch more features(like 128*128) to make it competitive to the commercial solution?
I do not have the new DJI products like INSPIRE1 and Phantom3, there are rumors about DJI cooperated with ETH on the vision navigation system, have you ever tested their solution?
Zhang
A couple of test with 3.3 and all looks good. Landing and RTL set down nicely and even shuts down the motor without issue.
Did notice that when using a GCS the copter does not sound a tone when changing flight modes, only when using the RC transmitter. Auto mode with saved waypoints and guided work well.
Still have a little issue with Altitude though. On the ground with GCS take off it was at 1.2 meters before it left the ground.
Did a 5 minute flight and the Altitude was off by 5 or 6 meters when it landed. Usually when landed shows negative altitude.
Need to do more testing.
MOUNT_TYPE parameter name actually MNT_TYPE; but it works for me (servos)
I have a new Iris + and I installed the Beta 3.3 RC3 and I am now not getting the FrSky Telem out to my Radio. I verified the settings and all are correct. I re-installed 3.2.1 and it came back. I just wanted to report this and see if it happened to anyone else that might have the fix.
Thanks
Joe
I had the same thing. In MP, go into the parameters. Change the value for SERIAL2_PROTOCOL to 3. Simple fix that a couple of the devs pointed me to.
Roger that.
Thanks
short report:
AC 3.3 RC3, 3DR Quadcopter with Pixhawk and LidarLite rangefinder installed (via PWM),
rangefinder works fine (according to sonarrange in the status window),
but if I try to arm the copter it refuses - I get the message: PreArm check range finder
the sensor is set up according to the wiki, height is about 10 cm above ground, value (on the ground) displayed in status window is 0.34
I have set RNGFND_MIN_CM to 20 and 40 - arming doesn't work in both cases
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