Copter-3.3 beta testing

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!

Hello everyone!

Since the launch of the Arducopter3,3-RC5 , I have made more than 150 flights in normal weather conditions and everything
was fine.

1 - TakeOff is Ok,
2 - AltHold is Ok,
3 - Loiter is Ok,
4 - PosHold is Ok,
5 - Guide is Ok,
6 - RTL is Ok,
7 - LAND is Ok,
8 - Disarmed after LAND is perfect,
9 - Follow me is Ok,
10 - SplineNav is Ok,

Yesterday I decided to travel to the south of the country where I live, where the average wind speed is 25 km/h, observing the following:

1 - TakeOff is Ok,
2 - Loiter - Ups and downs of 2.5 meters
3 - Guidance Mode - Ups and downs of 2.5 meters
4 - PosHold - Ups and downs of 2.5 meters
5 - LAND - Descent very fast as if collapsed (see video in the link's below)
6 - Disarmed when it lands - not work when the vehicle was being subjected to strong winds (I could not disarm the vehicle because the thrust of the wind did not allow it , I had to remove the battery)

Any suggestions for correct the above?

Multirotor Specs:

- QuadX 300mm Frame
- T-Motor Air Gear 200 Brushless Motor (combo)
- Kiss ESC 18A Electronic Speed Controller
- Pixhawk Original by 3D Robotics
- Futaba Radio T8FG Fasst transmitter
- FrSky TFR4 Receiver

- U-blox M8N GPS by VirtualRobotix
- 3DR Power Module
- 3DR Radio 433 Mhz Kit
- Thunder Power 2700mAh 3-Cell/3S 11.1V ProLite + Power 25C LiPo

Parameters that were modified to get good results:

INS_ACCEL_FILTER =42
INS_GYRO_FILTER =42

www.youtube.com/watch?v=tfdURU2Gwiw&feature=youtu.be

Hi Randy! Thanks you for answer.

I later connect current sensor and repeat calibration on Current.

I yesterday tuning classic OCTO with 18x6.5 props with tune agressive 0.07. I wait 20min autotune and yaw finished. I manual land copter in autotune mode, gears on planet, i throttle in 0 on futaba and props NO STOP!!! I disarm - not disarm!!! I switched OFF autotune and disarm - disarm YES! IMHO i landing and copter do it autotune.

I sighed and wiped sweat from his forehead, but copter fell on its side. But thanks to the protection of props - no problem! But this is nonsense! And parameters avtotyuna not survived! :(

If copter not finished autotune and i land in mode STAB and autotune and throttle in zero - motors is stop?

IMHO in all events if pilot in STAB throttle 0 - copter off motors - required! The pilot knows better when to turn off the motors and the brain does not have it in this way.

Ok. I told the assistant next copter flight to catch hold of the chassis. Assistant catches, I gas to zero turns off, but slower than 3.2.1, I do disarm. The parameters are preserved.

Next autotuning i set autotune_aggr in 0.09 - in 0.07 very small angle test in roll or pitch and veeeery long time tuning pids. 20 mins for roll and pitch and yaw and yaw don't finish.

1. In AGGR=0.1 copter stay 45 angles in roll and pitch and after finish flying good. But the presence of the unit swinging copter after a sharp rejection stick. That is, it is not immediately put into a plane after you release the stick, first at 15cm overcompensation and then in Level. You may need to add to D in pids on roll and pitch?

2. Whether due to the low autotune_aggr increase autotune time and also because of the wind 2-4m / s?

PS. IMHO need close ALL know bugs and later add new functionality.

Most importantly - the reliability of the system. If the system is not reliable, it is useless, it is not necessary. I have thought to put on oktu Naza, but ... But I think I will adjust Pix. And on naza not good gps. On my pix GPS very good - 22 satellite.

Replies

- eUGENE > Johnex June 9, 2015 at 5:41am
  
  MCU :Arm Cortex M4 @180MHz(STM32 F4 series). not too bad.

Winston S. Aquino Zabala June 8, 2015 at 9:39am

15-06-07_14-47-26.bin

IMG_8008.jpg

Andy Piper > Winston S. Aquino Zabala June 9, 2015 at 6:16am

Doesn't look like you have either LAND_SPEED or PILOT_VELZ_MAX set. I dunno whether the defaults on these changed, but my guess is that if you set them (or do a full reset on all your parameters) the problem will go away. Defaults are 50 and 250 respectively I think.
- Winston S. Aquino Zabala > Andy Piper June 9, 2015 at 7:58am
  
  Hi Andy!
  
  I used the values of LAND_SPEED and PILOT_VELZ_MAX in 45 and 225 respectively for many years and not had problems with the landing.
  - Andy Piper > Winston S. Aquino Zabala June 9, 2015 at 8:33am
    
    I believe you, however they are not showing up in the log you posted. I wonder if they got nuked by the upgrade somehow. Can you try setting them again and see if they show up in subsequent logs?
    - Winston S. Aquino Zabala > Andy Piper June 9, 2015 at 9:05am
      
      At the moment, I have no propellers, but I made an order that will arrive in two days, I will test with values by default and then will let you know the results.

Gleb Falaleev > Winston S. Aquino Zabala June 8, 2015 at 11:47am

Hi,
Hexa,  Pixhawk v3.3 rc5 from 3dr.
Wind speed is 10 km./h -  it is  OK.

Wind speed is 22 km/h, landing is very fast  -    
-  https://www.youtube.com/watch?v=2ie_ijwh_Vs

Aleksey Timofeev June 8, 2015 at 9:09am

Compassmot on 3.3 rc5 work from mission planner?

I tuning twice compassmot on THROTTLE (i off battery monitoring before compassmot) and i see on graph Interference (green line) always 50%!

This is bug?
- Developer
  
  Randy > Aleksey Timofeev June 8, 2015 at 11:28pm
  
  Aleksey,
  
  It's more likely a display issue in the MP. By the way, I strongly recommend using only the current based compassmot. The throttle method is not very accurate and I was thinking of removing it completely.
  - Aleksey Timofeev > Randy June 10, 2015 at 2:44am
    
    Hi Randy! Thanks you for answer.
    
    I later connect current sensor and repeat calibration on Current.
    
    I yesterday tuning classic OCTO with 18x6.5 props with tune agressive 0.07. I wait 20min autotune and yaw finished. I manual land copter in autotune mode, gears on planet, i throttle in 0 on futaba and props NO STOP!!! I disarm - not disarm!!! I switched OFF autotune and disarm - disarm YES! IMHO i landing and copter do it autotune.
    
    I sighed and wiped sweat from his forehead, but copter fell on its side. But thanks to the protection of props - no problem! But this is nonsense! And parameters avtotyuna not survived! :(
    
    If copter not finished autotune and i land in mode STAB and autotune and throttle in zero - motors is stop?
    
    IMHO in all events if pilot in STAB throttle 0 - copter off motors - required! The pilot knows better when to turn off the motors and the brain does not have it in this way.
    
    Ok. I told the assistant next copter flight to catch hold of the chassis. Assistant catches, I gas to zero turns off, but slower than 3.2.1, I do disarm. The parameters are preserved.
    
    Next autotuning i set autotune_aggr in 0.09 - in 0.07 very small angle test in roll or pitch and veeeery long time tuning pids. 20 mins for roll and pitch and yaw and yaw don't finish.
    
    1. In AGGR=0.1 copter stay 45 angles in roll and pitch and after finish flying good. But the presence of the unit swinging copter after a sharp rejection stick. That is, it is not immediately put into a plane after you release the stick, first at 15cm overcompensation and then in Level. You may need to add to D in pids on roll and pitch?
    
    2. Whether due to the low autotune_aggr increase autotune time and also because of the wind 2-4m / s?
    
    PS. IMHO need close ALL know bugs and later add new functionality.
    
    Most importantly - the reliability of the system. If the system is not reliable, it is useless, it is not necessary. I have thought to put on oktu Naza, but ... But I think I will adjust Pix. And on naza not good gps. On my pix GPS very good - 22 satellite.

of 558

This reply was deleted.

Discussions

Copter-3.3 beta testing

Replies

Activity