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
Broke a landing gear doing this autotune test, I will try again but first I need someone with log analysing skills to do a review . Leonard do you have any comment on this?
Hi Arni,
replied here:
http://diydrones.com/xn/detail/705844:Comment:2067951?xg_source=act...
i just had a bad autotune with 3.3-rc7 on a t960 with 18" props and 288kv motors on 6s. Autotune completed ok, but when I went to take off with the new PIDs, it shook violently as soon as it got in the air so I put it straight back down.
It flew more or less OK with the 'before' PIDs, but was wobbling a bit in a 30km/h wind the other day so I wanted to see if I could get it to fly smoother.
Param Before After
rate pitch P 0.3 0.49
rate roll P 0.3 0.47
rate pitch D 0.01 0.026
rate roll D 0.01 0.026
stab P 5 13.1
rate yaw P 0.3 2.0
stab yaw p 4 7.6
Autotune aggr was set to 0.1
the mot_thst and battery scaling params had also been set for large props and 6s before this.
The log is 80mb, but it's here if you want to take a look at it Leonard?
Hi Glenn Henri and Erik,
How is it all going. Sorry for the delay getting back!!!
Looks like you have all got it worked out. Let me know if you have any questions needing answering.
Glenn,
the vibes are relatively high as are the IMU2 Acc values. Hence, it might be a vibration issue.
Best regards,
Thorsten
+1 EXACTLY same behavior with same aircraft!
(Autotune completed ok, but when I went to take off with the new PIDs, it shook violently as soon as it got in the air so I put it straight back down.)
leonardthal was very helpful and mention that before autotune we should set aggr to 0.05 AND:
MOT_THST_BAT_MAX, number of cells x 4.2 ==>
4 cells = 16.8
5 cells = 21
6 cells = 25.2
8 cells = 33.6
MOT_THST_BAT_MIN, number of cells x 3.5 ==>
4 cells = 14
5 cells = 17.5
6 cells = 21
8 cells = 28
MOT_THST_EXPO 0.75 (for 18 inches props)
and
THR_MID,300
So the "violent shook" should not occur IF we start with standard parameter and set the above prior autotune.
Doing one axis at a time is wise as it might take too long for a single battery to do the 3 Axis.
(Autotune Bitmask: 0:Roll,1:Pitch,2:Yaw
VALUE MEANING
7 All
1 Roll Only
2 Pitch Only
4 Yaw Only
3 Roll and Pitch
5 Roll and Yaw
6 Pitch and Yaw
)
As for being too crisp after an autotune
You have 4 parameters you can use to control how crisp it feels.
RC_FEEL_RP
ATC_ACCEL_P_MAX
ATC_ACCEL_R_MAX
ATC_ACCEL_Y_MAX
If you find it too crips, just reduce ACCEL parameter for the axis you want to make more gentle.
Hope this helps (all the above were in this thread documented by leonardthal but 189 pages is a bit long to find relevant info)
Henri
Thanks for that, what PIDs are you now running with this same craft? Does it fly well in strong wind? I did set the MOT_THST_EXPO and MOT_THST_BAT_MAX params to the suggested values already, just not the aggr.
Yes the if aggr is 0.1 that could be fine for very small 450 or 500 size quad but far too nervous for medium size aircraft such as T960 T1000 or larger T18!
When I had the same "impossible to fly" attitude, I did manually "tame it down" as I needed to fly this photo shoot using the Sony NEX5R. after many many attempts, it finally decided to behave differently than a mosquito on steroids! Not the best thing to do but...
Still need to "re do" the autotune 3 axis one by one.
The 18 inches T-propellers were really worth the extra dollars compared to the el-chippy H.K. pretend CF ones!
Anyway it did hold beautifully in wind at 35 meters altitude had a 25 to 30 degrees slant against wind. The grid mission completed perfectly and it landed perfectly as written in mission planner. Thanks to the NEO-M8N precision NeoM8N and HMC5983 compass
Had another issue with simple bgc 32 bit gimbal controller but that is not related directly to 3.3 testing.
Really worth the effort (3.3 rc7) :-) Thanks to all the developers.
Henri
Indeed I have seen the same, it's holding position pretty well with the NeoM8N and counteracts wind influences when needed, which brings back the trust level big time...
If you can depend on the statement "it will stay up there no matter what wind speed you through at it" you flight expirence is much more relaxed, than it was before..
Now this EKF guy needs to be getting under control, so you can reliably run long auto missions and I will be very happy.
I do see some accumulated clipping in the Vibr part of the log during 600m Auto controlled trips, due to wind influence, as in hover I am not expiriencing any vibration at all.
The uncertainty that the EKF error might step in any time along the flight path, and kick in a LAND command (while the drone might be out of sight) is horrifying.
Just the search action you will need to undertake to find it back....
But I am sure the Devs will find a solution, and make it even more reliable as it already is !
Erik
oops
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