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
AutoTune can be setup as a flight-mode....can i use 3 position switch where is;
1st STABILIZE 2nd ALT HOLD 3rd AUTOTUNE
Do i exit autotune by switching to alt hold or stabilize?
For some reason as I recall I couldn't do auto tune on a 3 position switch but I forget why. I think because you can only find auto tune on the ch 7-8 options and on my radio those are a two position switch. I don't like that. I wish every channel had every option. Maybe there's a reason but I don't know what it is. Here's a better explanation of how to exit / use and or save the auto tune PIDs than I could explain http://copter.ardupilot.com/wiki/autotune/
From 3.3 you can make Auto tune as one of the flights mode,not only on ch7/8..thank you,i did many autotune but never this way,read your link
It's funny after reading the wiki again I might have been doing it wrong myself. I thought once it was done doing the auto tune you leave the toggle switch in auto tune and land and disarm to save the new pids. However... after reading it again it says after it is finished it goes back to the original pids.. you need to manually flip back to alt hold [ or whatever ] and then back to auto tune again THEN land and disarm to save the new pids At least that's what it sounds like in the wiki.
I understand that before AT process you can compare old and new pids turning on/off ch7/8 during the fligth and how pids are when you disarm are the saved pids (new with switch on or old with switch off) ; but before autotune I don't have enougth batt to many test so what I do is: first to save the old pids-autotune-change batt-test if I like it or reload the old ones (.....But my english is not warrantee so correct me if I'm in a mistake)
What I did the last time was use a dial on my TX for ch 7 then set the P the I and the D one by one by dialing in each one up until it's was too twitchy then just back it off a bit. Very cool.
I've never done it that way After AT finishes I switch to stab then land and then disarm. Pids are always saved for me. Though I still prefer to use Sw7 to turn on/off AT and whether or not I actually use the PIDS set by AT is a different discussion all together :)
Okay got it now.. thanks!
it sounds wrong,you just land and disarm ,and pids are saved..
-
36
-
37
-
38
-
39
-
40
of 558 Next