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
If any devs are interested here's a 3.4 log. I have a couple days free I'm gonna do more... also compare with 3.3 in loiter. Seems like it's not as good in loiter / pos hold as 3.3 but hard to tell with just 3 flights.
47.BIN.zip
3.4 When I did do auto tune it only did pitch for about 2 minutes. It never did roll or yaw and even the pitch was very short. Also http://ardupilot.com/forum/viewtopic.php?f=82&t=14544
I take it 3.4 is only something for the brave to try at this point? While I do have a test quad for experimenting, a death wish for Dixie Cup is not desirable :)
Yea probably not the smartest thing I've done flying pre- beta.. But I've been very keen on boat mode and it seems they have that worked out.
[MAV 001:1] APM:Copter V3.4-dev (f60f0e80)
[MAV 001:1] PX4: 546f2064 NuttX: d48fa307
[MAV 001:1] Frame: QUAD
[MAV 001:1] PX4v2 0036002D 30345101 37383933
I went through 4-5 batteries with no issues in many modes.
The only thing I notice is it takes longer to arm. A couple times I got some weird stuff.... 'new home location'....Sounded off on Tower even though I had 18 sats at the time. One time I did RTL and it went 1000 feet from where it should have. cmmmmmm who knows... but never any stabilize issues.
Been flying 3.4 in all modes no issues! Very windy here... opps... I mean a very nice tropical breeze. lol And it handles the wind no problem. Very nice! Meanwhile... my brother with a phantom dipped his go pro and 3 axis gamble in the salt water by accident ... it's toast. It's the 3rd time he's crashed because of the 'smart' battery. It starts to not maintain altitude to warn you of a low battery but it IS NOT without it's mishaps. His battery had ample power the FW makes the mistake and it's cost him plenty. PLEASE devs don't over think the smart battery in the solo. Don't over engineer it like the phantom. Let the pilot decide what's needed. In my brothers case it stopped holding altitude with the sprung center stick. By the time you notice with fpv over water it's too late! No issues for me with e 3dr pixhawk :]
COOLL!!!
Your brother definitively need a good copter ;) with Pixhawk
(see discussion earlier in the thread, or just search the site for "boat mode" )
re-boat mode- It's my understanding it will for sure be in beta 3.4 probably in January. I tested what they had so far and it worked perfectly!!
But when the "please wait for musical tones to finish before clicking ok" pops up I do not get any musical tones even after several minutes.
The hawk board won't connect to mission planner or do a start up cycle when the battery is connected. The small lights flash, but the large led stays dark.
I have tried using different USB cables and tried loading ardu plane also. Each time the up load completes but no musical tones.
Using the latest MP 1.3.32.13.
So how do fix this?
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