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
Second time it happened since v3.3 and I am not sure if it is v3.3 related of I have an other issue. All in all, after landing (throttle minimum, altitude 0 - copter on the ground) when I try to disarm the copter (0 throttle,rudder left) two motors spin up causing the copter roll over (crash disarm).
2015-06-06 16-55-06.zip
Hi Robert,
This is interesting. You were in Pos Hold at the time. That is the only mode I didn't have a major hand in designing. Does this happen in any other modes?
I will chat to Randy about it.
I could not find the other log, when it happened first I thought I made a mistake with the sticks.
Hi Robert,
Thanks and let us know if you see it again.
Hi Lijingwei,
This has two issues. The first is your copter is under powered. The second is your tune is not as stable as it could be. You hit the copter with a roll command and it then struggles to keep control. The act of decreasing some of the motors and increasing others means that it can no longer keep the average throttle high enough to maintain altitude.
I would suggest reducing ATC_ACCEL_R_MAX and ATC_ACCEL_P_MAX to 72000 and doing an autotune.
Hi Aleksey,
I did mean 72000.
From what I can see it says:
Values: 0:Disabled, 72000:Slow, 108000:Medium, 162000:Fast
Hi Jin'
The answer to that question is always the last official release.
I am interested to hear what problems 3.2.1 has. You need to be careful looking at the problems people are having because people tend to make a lot of noise talking about their problems but say very little after it is pointed out it was caused by a mechanical failure or setup problem. Our logging is so extensive that we can see pretty much exactly what the controller is doing at any given time. The only thing we really need to make educated guesses about is the external disturbances and mechanical/electrical problems. Maybe 1 in 100 basic stabilize/alt_hold issues turn out to be caused by problems with the controller now days.
I would be interested to see a log demonstrating your problems as I have not seen anything remotely like this for years.
I hope I can help you with your issues. I just need a log.
Hi Jin,
Well, it looks like you are right. It looks like you have completely lost contact with the GPS. From the logs I can't say if it has lost power or just lost the data link to the gps. I can't see any sign that your compass has a similar problem so that makes me think it is just the data link to the gps that has gone. (assuming you are using a 3dr compass/gps module)
I would be checking my connector between GPS and Pixhawk. I would replace it if possible and try again.
Not once but twice I finally narrowed down erratic / inconsistant behavior to a stressed out DF13 connector. Not a big fan of those. But I have since used a dab of hot glue to make certain nothing can ever tug on those little wires.
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