Copter-3.3 beta testing

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!

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                  • What's better, a manufacturer in China using cheap labor and Chinese parts or a manufacturer in Mexico using cheap labor and Chinese parts? Pretty much "six of one or half a dozen of the other"

                    They are all using the same Schematics and pretty much the same BOMs.

                    The reason 3DR sells for twice as much is not because it costs them any more to produce than a China plant but because they actually invest some in both customer support and help support ETH Zurich. But I find it hard to yank twice as much of my hard earned cash out of my wallet to buy a Hawk simply because it says 3DR on it.

                    I'd say 3DR is selling older hardware at twice as much as everyone else.

                  • The log is attached to my message at the start of this chain. Cheers

                  • Nonsense. There are plenty of clones around, most of them are fine. I got stuck to avau clone as it is the tinies one and works just fine. Most issues got nothing to do with FC, it is all about power supplies, filtering, connectors, wires, etc.
  • How do I use bluetooth with serial 4/5? Telem1 works fine. I can connect with APM planner when bluetooth is connected to serial 4/5 but I get no data and the HUD does not update.

    • I'll answer my own question!


      SERIAL4_BAUD = 57

  • Just updated to MP 1.3.29 and now my throttle and yaw mapping is swapped. Someone in the Rover group noticed this too. Has anyone else in the arducopter group noticed this too....

    • This was a bug in MP 1.3.29 and is fixed in 1.3.30. I spotted it too and reported it in the MP thread on here and it was picked up by Michael Obourne and sorted quickly.

    • I can confirm I'm seeing the same behavior but am not sure if it was me upgrading to this firmware or MP.

    • Yes I experienced the same thing. Weird for it to be suddenly swapped unless the code for this part was changed.

  • Need a bit of help with starting parameters. I mean before auto tune of one axis at a time.

    After installing 3.3 rc-5 successfully on 2 small quads and 2 medium size hexacopters (1000 mm { 1 meter motor to motor} 7 and 9 Kg {246.918 and 317.466 ounces}

    Trying to find right parameters (before auto tune) for a 12 Kg (12,000 grams) {423.288 ounces} H frame (920 x 780 mm) with a pixhawk.

    Propellers are T motors 17x5.8 

    Motors are four 5055 1630 Watts with custom adapters to the propellers.

    Perhaps leonardthall could give some recommendations?

    Thank you in advance.

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Aug 25