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
Well remember that you have to do rc calibration, so any changes you make in the radio propagate down the line. I for example change the servo limits and pitch direction in my radio, everything is default on the parameters in APM. This lets me swap a radio if need, since nothing changes on the pixhawk, only on the radios (if there is a channel that needs reversing on one radio but not the other).
We've added a tricopter setup wiki page. It's a bit sparse at the moment, it only lists the parameters that have changed since AC3.2.1. We can build it out further if people would like and can provide text to add (if you're really keen Hamish can add you to the wiki editors group or you can simply add a to-do item with text to the wiki issues list).
Some kind of video of a tricopter flying Copter-3.3 (or 3.2.1) would be a nice addition.
I've also added an item to the release notes so we remember to warn people when AC3.3 goes out officially.
@SwissFreek,
Thanks for testing & reporting. I guess Johnex has pointed out the change that we forgot to include in the ReleaseNotes.txt. It went in as a "clean up" as part of the RCMAP changes but we should have documented it better. Sorry about that.
So as Johnex says, the TriCopter setup procedure is different now because we've separate the yaw servo's min, max, trim and rev parameters from the ch7 input parameters.
I think your servo should work if you set MOT_YAW_SV_REV to -1 or +1.
Johnex, have you got your tricopter working on -rc7?
full parameters list -> RC7 out -> rev change the number to -1.
done.
hm.... something weird...
will try to test tonight......
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.
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...
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.
You might have to do a forced parameter update in Mission Planner.
Ctrl + F and click ParamGen.
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