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!

Copter-3.3-rc8 will is on it's way out to Mission Planner's beta firmwares area (it should appear in about 1 hour).

The full list of changes are in the ReleaseNotes and listed below. The list is perhaps longer than we'd like for such a late release candidate but hopefully this will be very close to the final AC3.3 release. The critical fixes are (1a) EKF’s vibration resistance, (3a, b) TradHeli fixes and (5a) bug fix for THR_MIN. The rest are mostly small fixes that could be done in parallel with the critical ones.

Changes from 3.3-rc7
1) EKF improvements:
    a) de-weight accelerometers that are clipping to improve resistance to high vibration
    b) fix EKF to use primary compass instead of first compass (normally the same)
2) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported
3) TradHeli:
    a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters
    b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground
4) Minor enhancements:
    a) SToRM32 gimbal can be connected to any serial port
    b) log when baro, compass become unhealthy
    c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check
    d) Circle rate adjustment with ch6 takes effect immediately
    e) log home and origin
    f) pre-arm check of battery voltage and fence
    g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)
5) Bug fixes:
    a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check
    b) fence distance calculated from home (was incorrectly calculated from ekf-origin)
    c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX
    d) dataflash's ATT yaw fixed to report heading as 0 ~ 360
    e) fix to mission's first command being run multiple times during mission if it was a do-command
    f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)
    g) fix initialisation of mount's mode
    h) start-up logging so parameters only logged once, mission always written
6) Linux:
    a) bebop support

Thanks as always for this group's testing efforts. Almost there I hope and then we can open it up to the wider community.

Replies

- Paul Atkin > DG July 25, 2015 at 9:29am
  
  Randy,
  
  I just flashed RC8 and tried to initiate battery voltage return. It did not work.
  
  this last log had it with reserved MAH amount set to non-zero
  
  https://www.dropbox.com/s/8jzwoii6uykua2d/8.BIN?dl=0
  
  this first has it with voltage only set and reserved mah at 0. voltage for RTL was set to 15.4 and it flew past it, I then reduced it more, disarming and arming drone, no use, it acts as before flying past that setting.
  
  can you pls confirm if according to logs it still thinks it is on USB power or if it is something else?
  
  https://www.dropbox.com/s/wbtlamaouj3aval/7.BIN?dl=0
  
  also this first log did exhibit a different glitch showing for first primary GPS unit a steady HDOP value of 0 for an entire flight. see picture and log also reflects same thing. not sure why second time it worked, I just disconnected power and reconnected it back hoping that it will make battery failsafe to work, but, no use. it is not working.
  
  Still, on a second flight it did set to something reasonable. I also noted behavior flying next to my house has improved a lot, it is not lurking around as much as before.
  
  MP software still gives same error for 'Time' if you try to run auto analysis.
  
  Dropbox - Error
  
  Dropbox is a free service that lets you bring your photos, docs, and videos anywhere and share them easily. Never email yourself a file again!
- Pit > DG July 25, 2015 at 7:14am
  
  what for an issue? I fly the AUAV-X2 with RC5, RC7 and now with RC8 an no Problems. This Board works fine.
  - DG > Pit July 25, 2015 at 8:14am
    
    http://diydrones.com/forum/topics/copter-3-3-beta-testing?commentId...
    
    DG,
    
    It looks like bad interference on the compass. Compass-mot is set-up but it doesn't seem sufficient to counter act the effect. Probably the best thing is to try and move the compass away from power wires, etc.
    
    I'd qualify this as a "fly-away" and the EKF check would have stepped in and switched the vehicle to pilot controlled land except there is a known hardware issue on the AUAV-X2 boards in which it always believes the usb cable is connected and so the EKF check (and battery failsafe) are disabled. We have a software work-around coming in -rc8.
Randy Bachtell July 25, 2015 at 4:08am

After updating to rc8 I can't enable throttle failsafe without pre-arm check fail regardless of parameter setting on both my quad and hex.

RB
- Randy Bachtell > Randy Bachtell July 25, 2015 at 12:59pm
  
  Solved....... Appears to be a much larger threshold for Failsafe throttle min. I decreased the value until it passed pre-arm check and everyone is happy. I just came in from several test flights with all three of my birds and can't find any issues with rc8, but then rc7 was solid for me as well.
  
  Thanks to the Developers and everyone that helped, this is a very stable platform
  
  Cheers,
  
  RB
Developer

Randy July 24, 2015 at 10:50pm

Copter-3.3-rc8 will is on it's way out to Mission Planner's beta firmwares area (it should appear in about 1 hour).

The full list of changes are in the ReleaseNotes and listed below. The list is perhaps longer than we'd like for such a late release candidate but hopefully this will be very close to the final AC3.3 release. The critical fixes are (1a) EKF’s vibration resistance, (3a, b) TradHeli fixes and (5a) bug fix for THR_MIN. The rest are mostly small fixes that could be done in parallel with the critical ones.

Changes from 3.3-rc7
1) EKF improvements:
    a) de-weight accelerometers that are clipping to improve resistance to high vibration
    b) fix EKF to use primary compass instead of first compass (normally the same)
2) UBlox "HDOP" corrected to actually be hdop (was pdop) which leads to 40% lower value reported
3) TradHeli:
    a) Motors library split into "Multicopter" and "TradHeli" so TradHeli does not see multicopter parameters
    b) Heading target reset during landing to reduce vehicle fighting to rotate while on the ground
4) Minor enhancements:
    a) SToRM32 gimbal can be connected to any serial port
    b) log when baro, compass become unhealthy
    c) ESC_CALIBRATION parameter can be set to "9" to disable esc calibration startup check
    d) Circle rate adjustment with ch6 takes effect immediately
    e) log home and origin
    f) pre-arm check of battery voltage and fence
    g) RTL_CLIMB_MIN parameter forces vehicle to climb at least this many cm when RTL is engaged (default is zero)
5) Bug fixes:
    a) fix THR_MIN being incorrectly scaled as pwm value during low-throttle check
    b) fence distance calculated from home (was incorrectly calculated from ekf-origin)
    c) When flying with joystick and joystick is disconnected, control returns immediately to regular TX
    d) dataflash's ATT yaw fixed to report heading as 0 ~ 360
    e) fix to mission's first command being run multiple times during mission if it was a do-command
    f) ekf-check is enabled only after ekf-origin is set (stops red-yellow flashing led when flying without GPS lock)
    g) fix initialisation of mount's mode
    h) start-up logging so parameters only logged once, mission always written
6) Linux:
    a) bebop support

Thanks as always for this group's testing efforts. Almost there I hope and then we can open it up to the wider community.
- Artem > Randy July 25, 2015 at 9:04am
  
  Randy, same question as DG, were you guys able to fix the x2 issue with USB connection status? Thx!
- Edwin Janssen > Randy July 25, 2015 at 1:51am
  
  Nice update!!
  I didn't have any real problems with rc7 so will be upgrading to rc8 for the next flights I'm sure.
  
  Great work! You make me very happy with my choice going for the Pixhawk.
- Evgeny > Randy July 25, 2015 at 12:57am
  
  Hi Randy.
  
  Great work!
  
  If I understand correctly this:
  
  a) de-weight accelerometers that are clipping to improve resistance to high vibration
  
  is fix for my case?
  - Developer
    
    Randy > Evgeny July 25, 2015 at 7:18pm
    
    Evgeny,
    
    Yes, that change came as a direct consequence of you crash. So thanks very much for the report including logs.
    
    The next step in this vibration protection programme is to make sure the GCSs are making the vibration levels easily accessible to people. So perhaps a bit like how the GPS appears on the HUD, we'd like "EKF" and "VIBE" printed in green, amber or red depending upon the health or level of vibration. Maybe allow the user to click on these strings and pull up a more detailed view of their status.

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