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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                • full parameters list -> RC7 out -> rev change the number to -1. 


                  • hm.... something weird...

                    will try to test tonight...... 

                  • Right, I got that. But no, not done. What I'm saying is that in AC3.3rc7, the behavior of the tri is unchanged regardless of whether this parameter is set to 1 or -1. That's what those logs I posted are showing.

          • nope, talking about different thing. full parameters list -> RC7 output ->rev -> -1/1 

            been flying tricopters with AC code long enough to tell it works very good, the only thing which didn't ever work for me properly is autotune. it worked OK up to 3.1.5, later revisions changed it to absolutely useless. tried on RCE and my own 6s powered tri. 

            • Likewise. I don't know what's going on all of a sudden. Like I said before, if I flash 3.2.1 on this thing, it works fine. Just confirmed that this morning after posting my logs. But if I put 3.3RC7 in, whirling death blossom.

      • Roger, figured that's what you meant.

        • It was actually 0 and 1 until randy changed it, which made more sense from the name of the parameter YAW_SV_REV(erse)  "true" 1, "false" 0, i missed the later commit where he did -1 and 1.

    • What GCS are you using? Have you tried a different one? I would think more copter would be having problems with such a basic setting. Maybe it is the GCS that isn't properly doing what you expect. I noticed in a quick Google search that something similar had been a problem before.  Just a thought...

      • I'm primarily using APM Planner 2 for the Mac. I was having connection issues on my laptop, which has been pretty regular and I'm not the only one who has had issues on the Mac version of APM Planner 2 for some time now over several versions (sometimes it doesn't want to connect via telemetry, sometimes USB is having a bad weiner day, and between both of my computers sometimes it works sometimes it doesn't), so I went to my desktop. I also tried APM Planner 2 for PC (same computer, different partition), as well as APM Planner 1.whatever the latest version is for PC. I don't have an Android tablet, so I can't try changing the settings that way, but I don't think the Android GCSs give you that level of control, anyway. I don't mess around with QGroundControl or any of the other GCSs, either.

        Anyway, yes, I have tried different computers and version to confirm that the setting was in fact changing (and even reflashed the board several times). The log files I posted were a clean reset to defaults reflash (after flashing Rover to make sure it REALLY nuked all the settings), then I set the yaw servo to reversed (as it should be) to get the first log, THEN I went back and set it to Normal (as it comes from a clean reflash). So I know the settings are in fact changing.

    • Yeah, try setting YAW_SV_REV to 1. Now there is also YAW_SV_MIN, YAW_SV_TRIM, and YAW_SV_MAX for min, center and max PWM output to the servo as well.


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