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 Stefan, this really isn't the correct place to discuss this but I'll give you a quick answer here. I can't track down your git hash, but it's almost surely that you are compiling Master which has diverged from the 3.3 branch. But it also seems quite old. So this is probably the worst thing you could be doing.
You should definitely be using 3.2.1 if you don't know what you're doing. Best place to get it is directly from Mission Planner. If you must compile on your own, then here is a link to the 3.2.1 branch here:
https://github.com/diydrones/ardupilot/tree/ArduCopter-3.2.1
Thank you Rob for the answer! And sorry for posting here....
Ooops!
My 690 Pro 3.3 rc11 shed a propeller over the weekend. I'd just fitted a set of quick release hubs and one may not have been as tight as all the rest. How it unscrewed against the resistance of the prop is a little disturbing ( yes I do have the left hand and right hand threads on the right props! ) The good news is that the software recovered in about 3 rapid rocks from side to side. It immediately started to lose altitude from about 25m and managed to land completely flat in a patch of unmowed grass about a foot long with zero damage!
On Sunday after a thorough airframe check I had 2 18 minute plus flights ( 10000mah liPos ) in absolutely dead calm conditions on a glorious UK autumn evening. The loiter capability is awesome with the vehicle all but dead stationary.
No detectable prop hub loosening. I'm wondering if these hubs are a good idea or not. Loctite seems counterproductive!
Although I am running twin uBlox GPS's ( M8 primary and M7 secondary ) I am getting repeated 'GPS signal lost' reports and for a lot of the 40 minutes or so I was airborne I was operating without GPS signal reported to Tower.
It's possible if a motor stops or is commanded to stop suddenly (particularly if you're using regenerative braking or 'damped light' esc mode, or if the prop has high outer inertia) that the momentum of the prop can continue and unscrew the quick release. Quick release hubs are inherently unreliable, although very convenient. One thing you can is to use PTFE tape in the threads, it should really help to guard against unwanted 'undoes' while still being easy enough to take off and put back on.
I came to the same conclusion - undoing/doing a few screws better than losing a prop mid flight!
so when is there going to be a official release? dont say when its done either how bout a date for once lol
James, we are attempting to please a great many people around the world, many of who have expressed their desire for a stable, problem-free release. That was not just the majority, but pretty much a consensus of opinion. This takes time to get right.
You are of course welcome to use 3.3RC12 if you wish, which is as stable as an official release would be if we were to release today.
I've had the flu for the past few days but hopefully soon-ish.
I hope that you get well soon Randy.
Meanwhile, simple question :)
If I change the value of INS_MPU6K_FILTER into: 5hz due to high vibration
Is it affecting AUTO and other flight mode?
Since default value (20hz or 0 ) make the THR pulsing extremely on take-off even when using Stabilize.
Log file before the value changed, pulsing wildly on take off.
Any advice perhaps :) ?
Many Thanks
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