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
That's great to know about the geotagging! I hate relying on Pix4d as it can fail sometimes. Any Idea when the driver for the LLv2 will be out? Ordered one last week. Would be really nice to incorporate this into auto mode allowing us to set a minimum distance between objects on the ground and the copter. Basically simple obstacle avoidance. When making complex flight plans for photogrammetry or lidar our elevation data can be way off. This would make a great backup to good flight planning. For example, if we could set a minimum 20m safety zone and the mission is at 100m but there's a rise in the terrain not seen in the elevation graph the unit wouldn't crash lol! Sounds pretty useful.
The lidar-lite-v2 driver is on it's way and will make AC3.3-rc9 but using it during AUTO won't be available until AC3.4 I'm afraid.
Could someone point me to a thread or just know off hand the differences between using autotune_aggr .1 to .05? Feeling a little stupid here, but I don't get it lol!
Shaun,
I quizzed Leonard about the meaning of the AGGR parameter and added a note to the wiki's autotune page. Not a stupid question for sure 'cuz the answer's hard enough to understand when it's right in front of you.
Yup, I read that... Not helping much lol!
Hi Shaun,
The simple answer is a successful tune at 0.05 is better than a tune a 0.1. It is faster and more stable.
If the tune is not successful increase it to 0.1. This will be more tolerant to unwanted moments and wobbles in your copter and more likely to succeed.
Signs a tune has not worked are:
1. The D or P terms have went to minimum. ( 0.004 for RD, 0.01 for RP, 0.5 for SP, and 1.0 for the filter frequency)
2. The copter flies worse after the tune.
3. The copter is generally sloppy to fly and doesn't make you feel like it assertively holds it's attitude.
That's a great answer! Thanks! I'll be autotuning a 1300mm X8 with U8 motors today. Start at .05 and see how it does. We now have 6 units running 3.3rc8 now with great results, ranging from 680mm X8's to 1300 X8 frames (a few hex's in there as well).
Problem on optical flow with APM rev 3.3rc8
Dear Friend,
in last week we are testing the APM 3.3rc8 on VR Brain 5.2 , we are checking all nuttx driver and advanced functionality like Optical Flow loiter and lidar terrain following functionality.
So about the lidar we are very happy ... did a lot of test and all work fine as you can see in this video:
https://youtu.be/XXTeOogVd8k
Roberto,
Thanks for giving this a try. I know Paul got it working (as did some 3DR Solo people) so it *did* work but I haven't tested it personally. If you have a dataflash log we can ask Paul to have a look.
Good to see the althold with lidar working well at least!
Had finally time to test an AutoTune on RC8, all my previous problems are gone and the Quad preforms really well after AutoTune
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