Developer

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!

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Replies

    • Sorry, again - shall I keep the 0 P values after autotune as normal or autotune resulted in incorrect settings?
  • @leonard

      Were you able to take a look at my Auto Tune logs from this discussion?

    http://diydrones.com/xn/detail/705844:Comment:2018277

    Not to sound impatient, but I won't take it up again the way it is.

    Thanks.

  • Hi dev, I have been following the dev. here http://firmware.diydrones.com/Copter/2015-06/

    Up til now there has been updates on the "latest but the last update is 8 june.

    Is it placed elsewhere or?

    in github I can see there has been changes.

    Just of curiosity/ Goran

    • I don't think there are nightly builds per say, i think Randy or one of the devs actually triggers a compile after testing alot of new changes in dev, or else there would be alot of nightly crashes.

  • hi! What does the "EKF Variance" prompt on my HUD means?

    • Hi Erwin

      Doe the EKF VARIANCE warnings come up as soon as you arm?

      • oh well, I got rid of the error by performing calibrations again :)

  • 还有一个问题请教 我的亚拓700e直升机的尾舵机 型号是BLS251 是窄频舵机飞控为什么不支持呢?或者哪里可以调试 谢谢

  • 我用了 3.3rc5 固件 飞亚拓700e直升机 基本所有模式稳定 文件如下

    700e 参数2015.6.12上午.param

    6.BIN

    https://storage.ning.com/topology/rest/1.0/file/get/3702027197?profile=original
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