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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    • Wes, 

           It is my understanding that the yaw controller has changed in RC 3.3. Your Yaw Rate P is currently set to .2 from you r9.bin file. My new Rate P settings in 3.3 are often as high as .8 from ~.2 in RC3.2. I would recommend you re run your autotune on the yaw axis and probably all other axis as well to see if that helps. 

      Also you are having clipping due to vibrations on your acel just prior to the rotations starting so there is likely a vibration problem to be solved as well. 

      On a side note it looks like you've managed to spin 8 times if the logs are correct. I bet that was a fun thrill ride. Hope you can figure it out. 

      • Thank you for your reply.

        Would you auto tune a multi that is yawing out of control?

        When I loaded 3.3 this time I loaded rover first to clear all settings so the 3.3 install would be clean. Default setting.

        This weekend I spent several hours balancing props to a gnat's hair starting with a new set. I remounted the FC using small squares of Kyosho dampening gel- the green 3/16 thick type.

        Vibration levels dropped from +-3 to +-1. If I still have a vibration issue it would have to be a failing component, motor/ esc/ FC.

        I have an extra Hawk FC so I am going to try that first.
    • I just tried one test flight after moving to 3.3-rc8.  I was under oak trees in the backyard so I didn't do much but it seemed very stable.  I have a M8N and it seemed to toilet bowl some in Pos Hold.  It took several attempts to get a good compass calibration that pointed where the quad does.

      Auto analysis reports many things not logged in spite of Log_Bitmask being set at 43006.

      What should the bitmask be set to?  And are there other parameter changes that might help the M8N?

      Log attached.

      2015-08-12 19-57-23.bin
      • Developer


        Thanks for testing.  The flight looks pretty ok - hard to see the toiletbowling so maybe that's another log or perhaps it's very subtle.  The heading estimates from DCM and EKF appear to stay within 10degrees of each other and the ATT's ErrYaw is always quite low (0.15) so it shouldn't be toilet bowling much.

        I don't have any extra advice for the M8N, perhaps others do.

  • Using 3.3rc8 I'm getting and error in Mission Planner - Error Compass Variance

    Seems like others have seen this issue, but I've not found a solution yet in this thread. Is there a fix for this problem, or is this recognized as a problem yet?



    • Developer

      If you have some dataflash logs that would be good as well.  I've seen this compass variance come up a few times as well on the thread but so far, no logs!  Best to set Logging-while-disarmed checked in the LOG_BITMASK selector in MP.

    • When you get your error compass variance messages usually your pixhawk will have a flashing yellow LED. Pick up your copter and move it a little bit. This usually fixes the error and allows the pixhawk to arm and continue a normal flight. This is the only workaround I have found for this problem aside from removing power and plugging it back in until a fix can be produced. 

  • When do you plan to fix this? This is easy. Annoying to see it every time ...


    • Yah it's been that way for a while and should be an easy fix for Mr. Osborne but I have a feeling he has his hands full just keeping up with all the changes in the RC firmwares :)

This reply was deleted.


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