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

      • Very good news!!!!!  Faster decent on a battery FS event is a good thing. You must be really dialing it in so to speak to even improve on that! Nice... 

        • Ok, can you expain how did you get battery FS with those rc5 and Rc7? Could you post screenshot of how parameters are set in failsafe and other parameters that affect that?

          As I did not change anything on the hardware side from what it was, it all worked in 3.2 fine and does not work now with any 3.3 version and i cannot understand why.
          • My bad it was just a hypothetical scenario. How are you setting it up? With which ground station? 

            • I do not follow. I asked how did you get battery failsafe to work, if it works. As it does not for me. Not sure what ground station got to do with it, does it make any difference? All i want is for drone to initiate RTL when battery voltage drops to 13.9v.
              • Developer

                Paul,

                It's still on my list to figure out why this isn't working for you.  My guess at the moment is that the battery failsafe is triggering before arming and then it's not being reset.  I've looked at your logs but not in enough detail to understand why it's not working.

  • just a question, is it possible to turn pixhawk in a full 3D copter ?

    From mechanical view, ESC's which can turn direction and symetric props are given.

    • for the naze32 there seems to be a setting which needs to be set to "3D" and go

      • 3D flight is more suitable for mini Vbar……

    • Fully supports traditional helicopters, but whether it can support 3D aerobatics Helicopter, I did not dare try it !

  • Can anyone confirm to me than the new Landing gear retract function works ?

    I have a new frame with retractable landing gear, have followed the wiki page about this function but can't get it to wrok.

    I haven't flyed yet but I try this function on the ground, Can anyone confirm than this feature work or not ?

    I've only found this input : https://github.com/diydrones/ardupilot/issues/2304

    Thanks community :)

This reply was deleted.

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