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
I made larger flights with new release with FPV and notice that some times, when I was in pos hold and pitch to start the fpv fligth, pitch react more violent than usual but them the fligth was normal, I remove the gimbal and the issue stays there but not always, that's the strange, I download the log and notice that pitch didn't track desired one
Any idea what happens?
Log: https://www.dropbox.com/s/u9k7nryhahz3k65/2015-11-30%2016-22-04.bin...
Hi Randy,
Can you please look at my log, and posted compass issue reported few days ago?
Link to the post
Thanks...
Dave,
So Copter-3.3 only ever uses one compass and it won't fall back to the internal one if the main one fails (this may change in Copter-3.4 if the EKF can determine that the internal compass is ok).
In this case, the EKF's heading estimate became off by 90 degrees because it "reset" the heading when the compass recovered. It sounds like Paul will add some extra protection before it does the reset.
Because the EKF's heading was off, the vehicle flew off in the wrong direction. So for example, if the GPS says it's too far east then the vehicle tries to fly west. But with a bad heading it might fly south. After a few seconds it figures out that it's flying in the wrong direction but it can fly rather far and fast in that time.
I'd just like to clarify that you only have 1 external GPS attached right? Trying to attach two external GPSs won't work and could explain the compass health failures (and possibly the bad data).
Randy, could you please clarify if this flight would have been recoverable under normal control if the mode was switched back to stabilise?
FnoopDogg, yes, switching back to AltHold or Stabilize would have allowed the pilot to recover.
Had a strange GPS experience with 3.3.2-rc2.
Basically you can see that late into the flight the num sats drops to 0 and the HDOP goes to 99 and the copter hits RTL. However, nothing else is awry - including in the UBX messages. The GPS appears healthy and the signal quality appears healthy. Is this just a glitch or is something else going on here? The thing that is puzzling is that in the GPS glitch in the first part of the flight all of these things move in tandem, but for the second its only HDOP and numsats.
114.BIN
@Randy
Great job. installed today, just waiting for the weather to clear. Thank you for your efforts to make this system great,
Copter-3.3.2 has just been released as the official version. It's exactly the same (except the name) as Copter-3.3.2-rc2. Changes from 3.3.1:
1) Bug fix for desired climb rate initialisation that could lead to drop when entering AltHold, Loiter, PosHold
2) Fix to hard landings when WPNAV_SPEED_DN set high in RTL, Auto (resolved by using non-feedforward alt hold)
3) Reduce Bad AHRS by filtering innovations
4) Allow arming without GPS if using Optical Flow
5) Smoother throttle output in Guided mode's velocity control (z-axis now 400hz)
Thanks again to the beta testers on this thread for helping run it’s through its paces over the past few weeks!
Hi Leonard/Randy or anyone else, would love to have u look into this thread I opened few days ago.... Worried about flying again until I hear more from others.... There is also another user (Oliver) reporting a very similar incident now, it looks like we both sent a land command via tower which ended badly.
My copter had been flying flawlessly on 3.3.1 since it came out and all the sudden I have this bad crash on a landing sequence at very low altitude that damaged copter but also my car, but more worried it could been a person! Anyways enough drama, is just shattered confidence, we all know the current risks with autonomous flying, it ain't perfect, but hopeful we can make it as safe as possible. Many thanks for any help you could provide.
http://diydrones.com/forum/topics/another-crash-on-auto-land-mad-hi...
-
57
-
58
-
59
-
60
-
61
of 449 Next