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
Make sure you don't have the problem I had - AUAV-X2 + ACPS3 give spurious current readings when the battery is not connected. This means that the MOT offsets will be applied even though there is no interference - leading to a very unhappy EKF when on USB power. Try setting COMPASS_MOTCT to 0 just to check.
I have tried 3.4 dev (master) and i have problems with compass calibration on Raspilot v1.1
i have a external compass connected as well as the internal (s).
Anyone else using Raspilot ?
I don't know if this is a Pixhawk problem or build problem but I can not get an acceptable compass calibration. I have done just about every method even spinning in an office chair. At the end of 20 minutes of spinning and 1700 data points I still end up with compass 1 with -931 613 -2655536 and compass 2 314 -195 -44 After restart I still have a double flashing yellow on the pixhawk, error compass variance in MP and a red EKF for compass on the HUD. This is with RC12 and the latest version of Mission Planner on a 2104 3DR quad frame and PDB with a M8N GPS/Compass from Ebay on a 6in extender.
Any suggestions or will have have to keep playing spin the chair with my son? He for one enjoys it.
Spinning in an office chair should be avoided because its steel and had disturbes the field. You should do it outside away from large steel objects(cars). Having said that, the numbers indicate that mag 1 has failed or has a huge interference. Try disabling it.
Oh boy that would suck if the internal compass was on the fritz. I'm sure that's not an easy fix. I tried the MAG_ENABLE option in Mission Planner and it disabled both the internal and external it appears. I couldn't get over 3 samples with it on and once turned off it would at least give points.
Dave, MAG_ENABLE is not the param you want. Look for COMPASS_USE in the full param list. You can enable/disable each compass. I haven't tried this, my compass works great and I found all 3 enabled and I don't have a #3 compass. I have never don a compass_mot cal. I just assumed I am using the external compass on a mast. If one has failed, turning it off could get you flying. Maybe I should do a compass mot cal in case I loose the primary compass.
Another thing I notice. I'm flying with only int compass until I solve ext one, I calibrate and all looks well but flying with Tower, in middle fligth without changing nothing flag EXF (great tool) becomes orange and red, then I do another fligth but with no Tower but notice in the two logs that offset changes, that's common? I never see in other logs. (one log is the same share.)
here the log
2015-09-26 10-23-27.bin
I test 3.3 rc12, It's looks much stable than 3.2.1 but I change many things to evalute exact difference, (controller, dampening system and firm). The only problem I still have is mantain altitude, I notice that repeat similar issue than the APM so, I hope I'm having mistakes tunning it, It's looks that baro overreact? which param work exact there? (with APM I try Throttle accel, rate and ALT P ) Thank's
Nick,
As you mentioned, it was dangerous in practice to allow people to arm and take-off in a mode that requires the EKF to have a good position estimate (i.e. Loiter, PosHold) without enforcing that that estimate is actually good. I don't think we can go back on that really so instead, if this change has made testing the failsafe more difficult perhaps we should just try and make that testing easier.
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