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
Thanks Leonard.
In all honesty, in the several hundreds of flights I've done with 4 different AC powered MR's (3 Pixhawk, 1 AUAV-X2), I've had one confirmed flyaway/crash in July, but was due to a hardware issue with the AUAV. Other than that, no crashes!
Well, there was the one time I changed the compass orientation to 'roll 180' on my first 3DR Y6B, took off in stab, switched to Loiter IIRC and the copter tried to circle the earth at 45 deg angle at full throttle into a swamp only damaging one motor fortunately. Of course it was the FC's fault until one of you guys spotted the real problem......me.
Oh, and the rollovers when learning how to take off as coming from a small KK2 quad to the Y6B was quite a jump. Chalk that up to noob learning how to take off.
Other then that, I've had no crashes; zero, nada. Ok, there was a few times they tipped over on landing and tried to dethatch the yard, but the good news is that crash detection works! And trying to do AT when it was too dark to see the copter and it floated into the woods (at low altitude); no damage, whew.
I'm building another copter, this time an X8 (just can't bring myself to build a flat) unless I change my mind by Monday when ordering the components. By the time it's built, we should be into AC 3.4...... can't wait. For the record, I only use the Dixie Cup quad for testing with rc's until Randy gives me that warm fuzzy feeling the code looks ok for the other machines.
Thanks for the clarification Leonard.
It's a big topic so if anyone wants to discuss it more, it would be good to create a new discussion (anyone is welcome to do it) and post a link here.
Hello folks,
I am running 3.3rc10 on pixhawk-lite - Just finished the autotune (2 steps, pitch then rool +yaw), a bit windy today (5 - 7 miles wind) so it took 12 minutes for pitch and 18 minutes for rool+yaw. After that it flew very good, stablize, pos-hold, land, rtl etc worked as rather well.
However, it seems the log got truncated somehow. Do I need to select all+disarmed in order to see the complete log.
2015-09-04 17-06-59.bin
2015-09-04 17-27-58.bin
Hi
I've also seen some issues with the compass variance but the ONLY way to try to understand these problems with enough probability of success is to have log files and possibly a small photo of the physical layout of both the flight controller and external compass.
So, keep the logs coming :) I'm sure Paul will hate me but it is the only way to trace this :)
Luis
A couple weeks ago I mentioned my copter drifts a lot when between (rather than above) trees, but with ~15 satellites and a low HDOP. M8N GPS. Someone asked for a log, and I finally made one.
I'm not sure it's an issue, as the copter is definitely stable above the trees.
But if you want data, here are some logs.
I also had an attempted fly-away, on rc10 in loiter. It was the first time it's ever happened to me. Historically, my copters have all been very stable once up in the clear sky.
I'll post a link to my attempted fly-away discussion, in case anyone working on 3.3 wants to see those logs.
Attempted fly-away
I've attached an image of the amount of drift over a couple of minutes, while the copter is actually stationary, and a log.
Do you have one or two GPS units? Just wondering. IIRC Randy recently recommended not using two until a fix in 3.4. Someone please correct if that is not the case.
No, only one..
I've got two copters, one has an H.K. m8n, and the other has an RTFQuads m8n. They both show the same drift.
I've ordered an expensive csgshop one, to see if it really makes a difference, like some others here have said. Probably be a week or two until it's delivered.
I have a RTFQ and CSGShop M8N 45mm. The CSGShop locks on much quicker and really does work great, but the RTFQ does hold position quite well and lands surprising accurately. It wouldn't be honest saying the RTFQ always works good. Occasionally it does hiccup.
That said, the good stuff goes on the higher dollar machines. I just wish it didn't take 3 weeks to get the CSGShop stuff as I'm building a new X8 soon.
It looks like it is stuck trying to upload the log... I'll try again.
gpsdrift.png
2015-09-03 13-39-12.bin.zip
Is the AUAV-X2 officially fixed in rc10? Sorry if this was already answered.
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