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
try to do a good calibration, do not use auto accept.
also, are you using compassmot?
Yes, I have to as its a 250 class quad and there is a lot of interference
what kind power module are you using, is it arsovtech one or 3dr or a chinese?
the reason why I am asking is I remember reading about an issue with x2 in which on USB power only (no lipo connected to PM) X2 was reading false current and AC applying compasmot offsets according to the current reading, but since those readings were "false" the offsets were too, thus EKF was not happy. Once again, I remember reading about it, but do not know where it was. I suggest a little test: disconnect current pin (only that pin of the 4 wire PM-X2 harness) and under USB power only (nothing connected to PM) check for the voltage on the current pin. If it reads anything other than 0, PM is leaking voltage through the BEC in reverse (I think it means it is missing a diode).
That was me on rcgroups :) So yes its an arsovtech one.
So it gives bogus readings on USB power, but on battery power (which is what I am reporting here) the readings are normal. I checked the current when I landed and its the same as when I took off. So I'm not convinced this is a PDB issue, but it could be I suppose.
maybe it is not a PM, try unplugging current pin, but leave all others connected, see if there is any "current" detected by x2.
Hi Artem,
Finally did some testing of this:
- With the PM connected only to battery (no FC) it reads 0.14v on the current pin.
- With the FC connected to the USB, the PM connected to the FC but the current pin disconnected it reports 0v relative to the PM ground, but 0.4v relative to the ESC ground pin on the FC (I assume this ground is common in the FC?)
So I'm guessing that somehow when the battery is connected it makes the grounds align? Not sure I understand electrically what's going on.
Another weird thing if I disconnect the PM input and connect the battery the FC still powers up! Only if I disconnect the ESCs does it not power up, seems weird since they are RCTimer opt-ESC's and don't have a 5v wire.
All very confusing!
But even if this is the case, why would I see the behaviour I am seeing? Its fine first time around, only the second with the same battery still connected is a problem.
Does APM Leak?
Without fail if I leave my bird attached to a power supply for a couple of hours when I try to connect to MP via USB it wont connect. I wondered if there was a memory leak.
Reset the PH and it's all good.
Not the end of the world ( I wish we were getting several hours of flight time :) ) but it might be in the future.
Have a habit of leaving hawks plugged in USB and going to sleep than to work and coming back the next evening to a fully working hawk. I suggest you carefully examine your board for cold solder joints and sometimes no-solder joints :) start with the USB plug as it's rather easy do damage one.
Ditto with me. Generally the airframe stays on all the time. I have a paper clip nearby to do a reset occasionally when I am playing adding hardware or tinkering with setups.
Wouldn't surprise me if it's a Windoze problem. I've had it completely forget config for the 3DR data link, usb drivers the lot.
This is all on a desktop, My business 8 core 32gig ram PC running Win 7.
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