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
BTW Bill Booney... unless I'm thinking backwards here [ wouldn't be the first time ] the 'Value' is the current / 'new' / changed value. It old / previous settings are what APM P2 is listed under 'new value'... so that seems backwards no?? In other words... I turned off COMPASS_USE2 =0 that's the current param in the pixhawk.
Your baro and alt track don't look so good
Now I get this
GPS: u-blox 0 is not maintaining a 5Hz update
That's a new one....
I have had the same message on the ground, inside my home with a 3DR6lea-h, but it never appeared via Tower and that's what I use in the field.
I've been using this same gps for 2 years. Probably just better reporting in 3.4 of variances like this... maybe
Baro and gps alt seem on the same page here
2.BIN
I've seen this happen with a cheap BeStar BN-800 m8n module, worked fine at 2Hz but not at 5Hz. The BN-880 seemed to have fixed the issue.
It seems they changed the name and now are called Beitian BN-800 and BN-880 instead of BeStar though it's the same modules :)
Is it something I should be concerned about? Is this the refresh rate? Thanks Craig.
If it is working fine then no nothing to worry about. If you are seeing GPS glitches and sat count/hdop issues then yes. If you ARE having issues then connect to ucenter and set it to a lower Hz until it stops dropping. Save the config and then remove the TX lead from the flight controller going to the RX of the GPS to keep APM from auto configuring the module to run @ 5Hz. [There may be a setting now in mission planner to stop the auto update but I don't remember]
I read on other threads that 3DR will leave the open Source community to go other ways with solo and so on..
What does this mean for Arducopter, will there still be a on going development of Arducopter and will the new project Pixhawk 2 be supported ?
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