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
We are getting closer to final...uploaded..one question;c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)..my LOG_BITMASK is now set to 176126(there is no explanation for that number) and I cant see what is number to be set for All+full IMU...one closest to that is 958 -Default+IMU or 43006 Nearly All...Should I leave it to 176126?
Emin,
Thanks for your testing!
MichaelO has made it easier to see what's enabled/disabled with the latest version of the MP. If you go into the Config/Tuning, Standard Params hopefully you'll see the individual items are displayed now so you don't need to rely on the drop-down.
Is this related to 3.3 beta?
I'm trying to get an OSD working, and trying to update "SR1" parameters, and they do not save. I found some older posts about that, and APM planner being the issue. I am using the newest mission planner and copter 3.3rc5.
I've been fighting this for a couple days now, and finally decided it's time to start asking questions :(...
thanks
Scott,
I guess the OSD is connected to Telem1? And is the GCS also connected to Telem1 (maybe through a 3DR radio or similar?). I'm not sure what the issue is but I can imagine two possible causes:
1. the GCS is overwriting whatever you put into those parameters because it is also connecting to Telem1 and telling copter (using the SR1_ parameters) what data and rates it would like.
2. you're trying to set the SR1_ parameters to a value they're already set to (i.e. it's "2" now and you're trying to ensue it's always "2" even after a reboot). It won't let you save unless the value is changed. I.e. change "2" to "3" and then save it.
It's very possible neither of these is the issue but it's all that comes to mind and I'm expect you've already seen the wiki.
Yes, OSD and 3dr radio on telem 1 w/ y cable. Tried updating the settings while connected via USB and through the modem. Been through the copter wiki and osd wiki.
BUT, since a bunch of people didn't say "yes, my OSD is broken too" I won't waste your time in this 3.3 section.
Otherwise, auto-tune and all the flying I have done on 3.3 is working great. thanks!
I have minimOSD on armattan and it works fine with both rc5 and rc6.
saying that - in all cases it was feeding from serial1 telemetry port. I could not make it ever work from serial2.
OSD should have only RX connected, no TX output from OSD should be used. connect 3DR radio to same telemetry feed, both RX and TX and RTS/CTS also - it helps. then it should be work every time and will be quite reliable.
swap serial2 type parameter to 5 from 1 - it will make serial1 work all the time. I attach gps unit to serial2 and to serial3 and this configuration seems to be problem free.
I've actually never used an minimOSD (or any other OSD) but I think if it's sharing a telemetry connection with the radio then what Paul says is right about disconnecting the minimOSD's tx line so it can't interfere with the radio<->GCS communication. If the OSD is connected to a separate telemetry port it should have both TX and RX connected so that it can tell the FC what data it wants (and at what rate).
Ah, also I suspect the minimOSD wants the buad rate to be 57600 so the appropriate SERIALX_BAUD parameter should be set to "57",
Hi, I wonder how long it can take autotune process? a 450 cuad after 18 minutes and he had no battery and the second attempt 15 minutes and never finished. :(
Sorry for my English
attach the log
19.rar
Hi Jose,
I can't download your logs but 15 minutes isn't unusual depending on your tune and how many times you had to reposition. Yaw especially can take some time but that has been improved in rc6.
As people have already told you, you can tune single axis at a time.
I had the same problem on a 450. Solved it by doing autotune on pitch and roll, only, on one battery and yaw on another battery. You can do this by setting Autotune_Axes parameter according to the following values:
Good luck
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