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
This afternoon another fligth but FPV now, pos hold, some less wind and no simple, all good.
Yesss!, I acumulate and now I have to use all together ;) ....tomorrow rainy forecast :(
Hi! i just flashed the latest AC3.3, but now my 2axis alexmos gimbal does not work. on the previous build, I just set MNT_TYPE to servo. now it does not seem to work. can anyone assist me?
I don't know about that specifically but it seems like if you select RTL yourself and then see if it announces it on your TX that will be your answer right? Or,,, perhaps I don't understand your question probably :]
I'm having issues with my script with 3.3... it works but has some issues I noticed last night several of the data fields isn't correct or doesn't change. I think they are working on this over here http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter?...
When a failsafe is triggered it changes mode just like if you had manually changed it. So, yes, it will show up as RTL in your Taranis.
Yes, T1 is a temperature, but it doesn't matter, just put 6 there and it should work.
re- if RTL is transmitted as the new flight mode in the same manner
You mean does ardupilot send the RTL verbal to frysky T1 the same as if you did RTL yourself?
sorry just trying to clarify so somebody else can let you know. Or... I guess you could set a really safe high voltage fail safe and see what it does.
My point was is it reported as RTL when it goes into RTL regardless of what set it to RTL. Yes.. not sure why it wouldn't.. but stranger things have happened.
Another try here:
A terrible windy day, I take off in stab, then althld, pos hold, a short mission, land from the tablet mode, arm from the tablet- take off-abort and take off again from the Tablet mode, fly in pos hold simple mode, some RTLs, and all works pretty nice :O :D
Impressive: the first time that I use the m8n, I live in the south cone far from first world so I haven't a lot espectations with this gps, It's fix 16-17 sats with cloudy day :O , I did a mark on the floor, take off-fly far and switch to RTL and the copter landed exact in the same place :O :O ; If It is repeteable, I'm going to make a mark in my club and explain Phantoms pilots why I'm the only crazy woman in the club that prefer a Diy dron with Pixhawk LOL. MANY THAAAAANKKKSSS!!!!!!
Nice!! Thanks for the report. It does seem better in the wind than 3.2 doesn't it?
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