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
Hi Glen,
I have seen a big improvement switching the Aggr from 0.1 to 0.05 like Leonard and Henri specified.
The STAB value's are going down after Autotuning with 0.05 and the craft feels less over active..
I did bring down the RC_FEEL_RP to 20-25 were I had this before at 50, and this also makes the flight expirience much better.
If after this all it is still to agressive in the movements around center stick, you can reduce ATC_ACCEL value's a bit, and this is what I am going to do on my Pitch value....
Today I had 2 crash after switching the Copter to Autotune!
The Copter flew well in Althold and Poshold.
please have a look on the last log
Hi Andre,
I have no idea what happened in this log.
It looks like you were not flying in Alt_Hold.
Is there anything more you can tell me about this copter?
Sorry,
I worked out what I was seeing. The additional logging was making the graphs look funny.
It looks like you are getting some motor sync issues.
It is probably wise to only use manual tuning unless you are confident you don't have sync issues.
Hello~
I see there is "AlexMos gimbal support (using AlexMos serial interface)" in 3.3-rc1 release note. Can I connect to a AlexMos (32bit 2.50b3) over TELEM4/5 port? My AlexMos controller is 32bit with 2.50b3 firmware. Do AC3.3 and AlexMos2.50b3 speak the same "language"?
I would like to try the point-of-interest (POI) feature with my alexmos-32bit 3-axis gimbal. As there is already a slip-ring on the gimbal YAW motor, is it possible to turn-off the YAW angle limit? Once disable than my quad could freely turn more than 360 degree without affecting the pointing direction of camera.
Thanks,
Wilson
Wilson,
Sorry for not responding sooner. Alexmos gimbal support is in there but I personally don't know how to connect it up nor have I tested it. If you'd like to give it a try I'm happy to help in whatever way I can. I have been meaning to try it out to confirm it's working.
Thank you Randy~ you are very kind~
Will update you when I try it out ;)
Hey guys just thought I would pop in to say I have just got this working...mostly. I am using a Basecam 32 bit 3 Axis BGC and successfully controlling it using Serial 2 out of a Pixhawk 2 (From a SOLO main board but I think it would be the same on a Pixhawk 1)
Connections are such:
Pixhawk Serial 2 Tx -> RC_ROLL
Pixhawk Serial 2 Rx -> RC_YAW
Settings on Pixhawk:
Serial 2 BAUD rate: 115200
Gimbal Type -> Alexmos Serial
+ assign control channels (eg mine are RC5 and RC6)
Settings on BGC (Basecam):
RC -> Input Mapping -> RC_ROLL pin mode -> SBGC Serial API 2nd UART
I have this confirmed working, though I have the following issue:
The output to the gimbal is only changing at a set rate, regardless of the speed at which I change the input. For instance, if I try to pitch down within a second, I see the RC6 input changing correctly, but the gimbal changes speed at the same slow rate, resulting in a significant lag. I have tried changing setting on the BGC to no avail - if I control the gimbal with PWM and the same settings the gimbal moves as fast as I want it too. Thus, I am fairly certain that it is an issue stemming from the flight controller.
Randy, perhaps you may be able to shed some light on this for me?
I have a strange problem with RC7, after first flight when I landed and disarmed the motors kept spinning, tried to use "Motor Emergency Stop" that I have on channel 7 but that didn't help either, had to press the safety switch to stop them.
I calibrated the ESCs after upgrade to RC7
Log is to big to upload so I have it here www.maciej.se/53.BIN
Anyone that could have a look at this?
I've tried to reset the Pixhawk completely, installed APM:Plane and then back to Copter 3.3 RC7, done all calibrations again including ESC calibration. After ESC calibration it looked OK but then after first flight I got the same problem, motors continue to spin after disarm and even if I use Emergency Stop, I have to use safety switch to stop the motors.
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