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
Sorry, I missed that you were trying to tune R/P I. But perhaps you forgot to set the limits for tuning (high/low)? They both are set to 0.
Interesting.... I had just finished tuning rate I and all was fine, then i was flying around once i had it tuned. I didnt touch the ch6 knob though before it crashed. I had this problem right before I flew it to tune. The low/high values did not stick. I had to set it all again right before I took off.
Have a look at your tlog and see if the command to set the parameters was sent.
I don´t think your crash is caused by vibrations.
Your PIDs look a little strange - did you get them from autotune?
@Randy - Hi, thank you for the help the other day with vibrations, I replaced the FC mounting foam and it fly's just great! Are we likely to see RC2 this weekend? Cheers! Mike
Sorry just noticed you're earlier comment - oops!
Hi Guys anyone know about 3dr Telemetry not connecting after upgrading to 3.3 or even 3.2.1. ?? was working fine before messing with firmware .. I know the units work as I can swap between machines ..?? Ideas
3DR Telemetry (at least the original one V2) is working with both versions. Some guys reported, that it is sometimes required to re-power the unit, to get a connection. But I doubt, that the FW is responsible for this. Downgrade to 3.15 to verify this.
What telemetry radio are you using and which ports on your auav-x2
? I have a RTFQ radio and can't connect using mavlink.....really frustrating.
Hi DG,
my complete hardware setup guide is here:
Hardware Setup for AUAV-X2
At the end of it, I added a small (330-470uF) capacitor to the 3rd party power module, which seems to fix startup problems due to a noisy 5.3V supply, as one user reported.
PS: Although the 3DR V2 telemetry supplies RTS/CTS, I don´t use it. I prefer SERIAL 2, but just because its easier to access .
As soon as Arducopter allows free config of the serial ports, I´ll use SERIAL 1 for the 2nd GPS.
@Reuben: If you fear high current draw by the telemetry module @ the serial ports (due to the current limit of the internal buck boost reg)., you can power it directly by the power module, just disconnect the +5V .
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