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
Stephan,
It's close but not exactly the same. It's got a couple hundred commits extra many of which will make it back into master for AC3.4. There are a few things that are very Solo specific that may never make it back into master but it'll all be published shortly - legally it must be published once people start receiving their copters.
Is terrain following supported by 3.3? As we switch from photogrammetry to lidar, terrain following is much more appropriate for scanning. If this is the case, can Lidarlite be used as a backup if your loaded SRTM data is a little off lol? We've got some really big trees around here...
AFAIK, it should be in 3.4 not in 3.3
I'm also eager to have it, as I mostly fly in hills, with lot of big trees...
"APM:Copter V3.3 RC5" and "DYS Marcia 3-axis gimbal for GoPro 4", all the details in the video description.
Here the raw video file: https://drive.google.com/file/d/0B3HEcrNCOga9bGVId3c0ckU2R1E/view?u...
Is your PixHawk enclosed ?, as you don't seem to have any dropping in altitude due to the high speed you are moving over the grass...,
I guess you are forward flying with camera looking backward, or is the front of the PixHawk pointing in the same direction as your camera ?
Erik
Very nice clip marco...
No doubt this has been explained a number of times, but can someone explain the difference between Rcin an Rcout under CTUN? Why do they diverge? Is there a dead zone in AC3.3 that causes this. When determining tx throttle position, isn't Rcin what is actual physical position of the stick? IOW, if the stick is in the middle (no curves etc.) is Rcin the one to use for position @hover?
RCIN is the pwm input from the receiver, RCOUT is the pwm output, for the ESCs/motors.
Regarding your question no, the throttle_mid is a number that can go virtually from 0 to 1000, and the center is 500, while the pwm input usually ranges from 1100 to 1920.
I'm looking at the code for 3.3 and it says that for serial ports: 2 - DPort and 3 - SPort
The wiki says that it's 3 for D Port and 4 for X Port.
The full parameter page says it's 3 - DPort and 4 - SPort.
Which is it or is it none of the above?
Hello,
i can not upgrade my Firmware. I always get this message:
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