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 Shaun,
It is hard to say without seeing the whole tune. I would go with the first tune though.
Hi Shaun, what PIDs did you end up with on the T690. I think I'm running an almost identical setup to you with the 288kv motors and supreme 1865 props. The last tune I ended up with at aggr of 0.05 on RC9 was approx rate P 0.36 and D 0.022 Stab P 6. Running a higher AGGR led to high freq vibes on takeoff. Seemed to fly well with these PIDs but need to put it out in the wind more before I can be sure.
Yeah with my good tune, When I start the motors I get some shakes like you'd get with too-high PIDs, but they settle once it leaves the ground, and it looks very solid in the air.
Hi Glenn and Shaun,
You may have different brands or settings on your ESC's and different brands of props. This all has an effect on the Mot_Expo parameter and that may account for the different performance.
Funny, I couldn't get a good tune at .05. At .075 and .1 the P and I was around .25 to .28 and the damping was .0133. Stab P from 5-8. I get the shakes on takeoff, but everything settles in once in the air. Not sure why that's happening.
Here's the log files for two autotune flights at AGGR.05 and two more at AGGR.1:
AGGR .05 flight one:
https://www.dropbox.com/s/4kt10s3ioyhqqz2/AGGR05Tune01.bin?dl=0
AGGR.05 flight two:
https://www.dropbox.com/s/f00t7cwt7akyhwy/AGGR05Tune02.bin?dl=0
AGGR.1 flight one:
https://www.dropbox.com/s/nv7czrpy35bfins/AGGR_1Tune01.bin?dl=0
And finally AGGR.1 flight two:
https://www.dropbox.com/s/vsad4awhmwaz6b2/AGGR_1Tune02.bin?dl=0
So the best two autotune's seem to be the first flight at AGGR.075 and the first autotune with the AGGR.1. The ATC_ACCEL is quite different though:
@ AGGR.075, ATC_ACCEL_P_Max is 41,681.06, R 49,677.57 and Y at 16,746.3
@ AGGR.1, P 110,000, R 110,000 and Y 27,000.
Is it strange that at AGGR.1 the ATC is has no decimal numbers with P and R both the same? Kind of like when you do an autotune and get D number as the default was.
Hi Shaun,
The aggr is best when it is just a little bigger than the rotation rate noise you have on your controllers. It tends to be reasonably tolerant to small increases but if you go to small, autotune goes to low pids trying to remove overshoot that is really just vibration.
I am glad you have got a good tune!!
So I did some more testing at aggr .05 and .1. Wow, what a difference. At .05 the tuning was useless. At .1 they approximated my best tune at .075.
First tuning at .05
Second tuning at .05
Third time with AGGR set to .1
And finally AGGR at .1 for the second time.
I'll attach log files for these. Is this helpful for beta test? Or am I wasting space lol.
The log files are two posts up : ) I'm heading out right now to try different values of AGGR with multiple tunes. Should be interesting. Wonder in the AGGR setting is linked to the size of airframe on top of dealing with flexibility. In this case, even though it's large it's also a very stiff frame. I'll run the full set on this, then to the 960mm hex and finally test out the 1300mm X8. Good thing I have a lot of batteries lol!
Hi,
Tested position hold and auto modes on rc11 today. The ROI is still not working, loaded mission with MP 1.3.31.7. This has been a problem with other AC3.3 RC's as well. After mission, switched to PH and landed, throttle down, and by mistake switched to Auto again, with throttle down left to dissarm it began to spin up again and ended on the side. Is this normal? Still a bit much altitude drop even at low speed. Otherwise nice performance. Thanks.
-
149
-
150
-
151
-
152
-
153
of 449 Next