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
make sure you setup your voltage/current meter in the PM. very often Chinese PMs have different scale than 3DR ones, I remember to get the correct current measurements with one such meter I had to increase the amp/volt to 21.5. On the other hand, I actually had to drop volt/volt a bit, otherwise it would show lower voltage than all of my voltage meters and a multi-meter, maybe in your case you should bump it up a bit? Anyways, I suggest first checking if you've setup your f/s correctly, than see if the volts measured with a multimeter are the same as reported by them mission planner connected via USB.
I had to increase the amp/volt to 20.488 for my 3DR PM to get accurate current measurements, so it's not limited to Chinese versions.
Regards,
Nathaniel ~KD2DEY
voltage is reported correctly in MP, taranis via teensy and minimOSD and matches my multimeter precisely.
Not sure what is the deal...
I believe it has to be at or below the specified amount for a few seconds it does not go into FS immedialtly could that be the reason?
To be honest i am undecided if i even want that feature or not. It is not a priority, just an oddity. I am much more concerned about controls direction flip in a super simple mode as it is critical for aero photography and i cannot figure out what triggers that.
In case people are wondering where we are with the release, we've hit a number of unexpected issues over the past couple of weeks including:
1. the EKF's altitude estimate is not tracking the barometer correctly.
2. the trad heli is losing altitude when switching modes (Rob can correct me if I've got that wrong)
Once we get at least #1 sorted (and Tridge, Paul, Leonard are getting close) then we will push out a new release candidate. #1 isn't a crash-o-matic bug (as Rob would say) but it does lead to altitude hold performance which is not as good as AC3.2.1 especially in cases where there are high vibrations on the copter.
thanks randy and all the dev team for you hard working !!!
i think you are right, before to launch official 3,3, all stange issue should be resolve so it s not an easy way
MP says your log is corrupted. You might want to get it straight off the sdcard instead of using mavlink. I couldn't really look at it because of this.
I did see that it says you are using 3.4-dev instead of 3.3rc5?
So you haven't even armed at this point right? As far as I can tell the check should never trigger if the motors are armed. Do you still get it if you plug in the USB cable?
Log looks totally normal to me.
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