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
So you are NOT showing the machine with the issues but a totally different one in the pics?
That hdop looks funny to me but I'm no expert. Just seems weird the way it's a constant for so long even as the sat count goes up and down. Did you only have the one flight? Try waiting until you have at least 10 sats... make sure your not next to any buildings etc. I think the M8N can be more finicky. If it still does it I'd suggest trying another gps / compass.
gps.jpg
Richard I have just seen in the Dataflash logs the Hdop ..and the value in the graph does not match what i saw on MP during flying I know that I must not fly in Loiter with HDop of greater than 1.4 but i see the Hdop was much higher than that in The Dataflash logs ...have I found a Bug ..or or there an issue with my set up .. running latest mission planner running latest code and using the same old trusty 3dr radio link ?? I am sure the HDop displays in the Tlog play back I am going to have a look ..
Hmm guess I'm not sure... craig and others are far more experienced than me at reading logs. But it just seemed odd to me. I'd try swapping out to another gps and see if it's better. Maybe you have a bad gps or gps wire. btw did you look at the HUD in mission planner and rotate the craft and make sure the compass seems solid? I have had a few times where I had to do the compass calibration a couple times before I was happy with it. Anyway... your probably getting the trusty APM back on for now. Good luck with your flight today!!
I too wondered about that ...we flew earlier without issue but noticed this Hdop reading being too stable .. but if you put your hand over the gps it does move the Hdop higher... the flight earlier was not a mission just a hover to do a 360 .. Would the GPS give Ekf Hoz error and velocity that i have just seen in the Tlog play back ?
Cheers Richard
Hi,
I would like to know if the last APM2.x Firmware 3.2.1 is also affected by the Follow-Me / aborted takeoff bug?
Thanks
Hi Guys
I have been trying trouble shoot some issues ... firstly is there an updated tone listing somewhere, as the one on the wiki is incorrect .. for instance if i remove my SD card i do not get the same tone as i do with 3.3 .. earlier FW is fine.
I also have no Boot.log file on the SD card to see if I can spot some boot issues ? I have tried to reinstall the FW but this makes no change..
I get three beeps after the board has booted and then the esc's arm ( disabled safety switch) with re enabling safety switch the esc's beep until the safety switch is pressed.
Update .. after re-enabling the safety switch the tone from Pixhawk still gives me the three beeps..not sure why i get these beeps. None of my other machines do this, one is on 3.2.1. the other on 3.3 .. i will upgrade the 3.3. to 3.3.2. and see what happens on the other machine .. as that one does not beep three tones or even beep the esc's even when the safety button is not pressed..and it operates just ...i the wiki is well out of date ..i this does not help my trouble shooting.
https://youtu.be/u2s00Addht4
regards R
Been playing with Acro trainer mode today - set on 3-pos switch. Strange thing is I managed to do a back flip on both trainer modes, so wasn't being limited to 45deg in the second mode (pwm > 1800). Strange!
Paul,
Yes, I've found the same thing a few weeks ago and brought it up with Leonard and I think he's hoping to fix it in Copter-3.4 or maybe a patch release of AC3.4. Probably ahead of that we should fix the documentation and parameter descriptions so that they're not misleading.
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