Developer

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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          • Developer

            Ok, so Tridge has tested the Zubax GPS and it "works nicely!" it seems so feel free to give it a try and report back!

            • I connected my Zubax GPS, LEDs on the zubax are lit but I get no GPS signal through to the Pixhawk or indication in APM Planner.  I can't find anything in the parameter list that looks like a UAVCAN parameter or to direct gps signal.

            • Perfect, what are the parameter changes needed?

              RB

    • Developer

      Have you the logs of the second issue?

      • I will upload the logs later today. I have one more question... Can I assign another channel other than 7 to trigger the camera? I actually want to trigger 2 cameras. 1 on channel 7 and one on channel 9-12. I recieved a stratosnapper that does not work. And do not have time to wait for another one.

        Thanks again.

        • Developer

          Craig,

          We only support triggering a single camera at the moment.  I've created an enhancement request here but I can't promise when we will implement it.  You're actually the second person that I've heard ask for this (although the other person wanted both cameras to take pictures at the same time).

  • Oooh, Alexmos support...to do what exactly?

    • Hi,

      i tried to find some wiki pages about this... ...no chance... 

      Is there just no wiki page, or did i just not find it? ;)

      Thanks  a lot!!!

      • Developer

        Johannes,

        There's no wiki page for the alexmos setup yet I'm afraid although it's on the to-do list.

        • Hi Randy!

          I have searched the various sources and cannot find anything conclusive on alexmos/basecam support, especially the serial capability. Does this use the UART on the SimpleBGC otherwise intended for a bluetooth module, or something else? Or was this abandoned for StoRM32-only support?

          If you can give me some direction I am happy to help update the documentation, as I strongly suspect others are wondering the same to do some Points of Interest.

          Cheers.

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