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
Many thank's Alex, It's possible that pins are changed, I have an old 3DR Pmodule 3-4S and didn't check that, I have to invert nearly all when I change the APM 2,5 to Pixhawk (chinnese) I have the 6s PM that's arrive with the Pix, I'm going to change pins and if doesn't work I change the PM, many thank's to discover, I didn't take care of curr because I had an external alarm reading batt and looks good when I land so I'm not going to discover the issue for my oun.
Thank's for the tips, arming in Poshold it's a good idea, I almost time fly in pos hold so check looks interesting for me.
Does anyone know why Rate P and I are always the same when autotuning in 3.3? Seems a bit strange. Trying to sort out why my unit is shaking on takeoff, but flies well otherwise. Maybe not related, but still seems odd P and I are always the same.
Hi Shaun,
This is because autotune sets them to be equal. This is based on the time constant the average pilot expects to see.
Am I the only one that didn't know that?
No ;)
Yes ;)
RC11 flies very well. I had frequent EKF issues, all resolved now. Thank you!
I have not seen any info regarding DO_MOUNT_CONTROL other than mentioning it in the wiki. I have wanted to use this for some time now, so I thought I would post a video showing my results. I did not spend a lot of time planning the mission and its not the greatest video, but maybe it will help someone. I am flying a stock IRIS+ with a tarot 2d gimbal, so pitch will be the only variable. In mission planner my gimbal is restricted to move between 0 deg and -90 deg. If using a different gimbal, check the gimbal set up page to know the limits for this command. I initially tried a pitch setting of 20, and since that was out of the range of 0 to -90, nothing happened. When I figured out pitching down should be a negative number, it worked great. At the first waypoint the camera goes to -20 deg, followed by -25, -30, -35, and -40. I included the waypoint file is case anyone wanted details.
https://youtu.be/bnjXxMpqgKI?t=43s
I'll be using -30. Here's a large road project near me. This video ends showing a transition from DO_MOUNT command to ROI and back to DO_MOUNT.
https://youtu.be/SVp7MN3sTg4
mount test.txt
Thanks for testing, nice video!
Thanks for developing!
Copter-3.3-rc12 is now available through the Mission Planner's beta firmwares link.
Desperately hoping that this is the final release candidate. We received some complaints from others on the dev team that they were seeing a "Compass Variance" pre-arm failure which they could never get rid of without power-cycling the board so -rc12 has a change just for this one issue.
If all goes well we will do the "soft release" of Copter-3.3 no later than next Tuesday.
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