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
And I thought to change something in my antivibration system.
Can we rule out hardware ploblema ?.
I hope to see you soon RC4 to test it thoroughly.
thanks
For those few people who were seeing "whiskers" in the IMU logs, Tridge/Paul R/Grant have found the issue. It was caused by a timing issue between the MPU6k and the Pixhawk and could lead to occasionally missing or duplicate accelerometer values being read from the MPU6k.
Here's a video of the sophisticated testing setup. At least we know the Australia dev team hasn't strayed from it's DIY roots!
Cool. So it was not my setup. Hope to see rc4 soon to test it.
Haha, love the rig. Not too sure the neighbours would though.
Poor magnetometer! ;-)
Hi paul,
I use the 3D printed mount, too, with good success. Make sure all the cables that are plugged into the Pixhawk are loose and don't pull on the pixhawk. Tight cables will transmit the vibration from the frame.
I have to disagree with not tighting cables,that way they are vibrate from air flow as well and make thing worse...correct way is to cut that foam latex,wrap it around cables and fix them somehow,so they don't touch mounting plate...
Parachute question, 3.3 RC3:
Does copter need to be on "fly" for two seconds before test mode (altitude check disabled) manual eject works? ie. are there all other conditions active except altitude check?
Now I've seen several times when parachute is not ejected and I'm guessing eject is just requested too early. I would like someone to confirm how it is meant to work on test mode.
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