Developer

Copter-3.3 beta testing

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!

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Replies

          • Many thank's Leonardthall, very interesting to know.

            • Developer

              Hi Cala,

              No problem.

              If you need some more help just post a couple of pictures of your copter and we may be able to make some more suggestions.

              • Thank's for all the time that you and other devs dedicate to help users too; here I posted last photos from my copter and things to resolve yet, any suggestion is welcome :)  http://diydrones.com/forum/topics/optimizing-my-first-cuad?id=70584...

                • Developer

                  Hi Cala,

                  That copter is a quad but your log here is an Octo. I am confused.

                  • No problem

                  • Developer

                    Hi Cala,

                    sorry.

                    I got you mixed up with Rochat.

                  • Glup!! I don't have an octo, I'm going to check

                    You refer to autotune one?  https://www.dropbox.com/s/cmp0aogu0zeyij0/2015-10-07%2018-22-27.log...

                    I checked and looks the correct log, perhaps something bad configured?

                    Or you refer to Ruchat octo log?

                    (sorry if I confused something, english isn't my native language)

                    Dropbox - Error
                    Dropbox is a free service that lets you bring your photos, docs, and videos anywhere and share them easily. Never email yourself a file again!
  • In 3.3 is there a way to do live vibration testing, one motor at a time?  It would be great to be able to do this without having to strap a cell phone running a vibe app to the copter and running motor test...  Even if it was a small utility app that one could run the motors one at a time or run test that would cycle through each on and then report out the results... Just an idea.. Maybe it exists already and I haven't found it...

    • I think to really take this up a notch would be to add an external three axis sensor that could communicate with the pixhawk at the motor location.  You'd bypass all the extra harmonics and frame interaction.  You know, now that we're throwing ideas out there lol!  I've been using a Vortex balancer for a few years now, but this would be a lot simpler. 

    • if this feature is going to be in AC3.4 I definitely will install the 3.4-rc1 and test my copter immediately.

      thanks for all the great work the AC3.3 is now more vibration resistance. If 3.4 has this feature than it is not only tolerate but even help reduce vibration.

      one more +1
This reply was deleted.

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