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
Hi Waladi,
This isn't a 3.3 question as that variable isn't in 3.3.
The correct way to deal with that problem is to decrease your alt hold acceleration PIDs. I would suggest reducing them by 50%.
Upss... sorry Leonard.
Noted, I post it on 3.2.1 topic
Could you please check it?
btw: the problem is not on the Alt Hold alone but in the stabilize also affected.
Can anyone tell me what 'locate copter' alert is about?
Seems I'm only getting these since switching to 3.3
check mark it off.. then when your copter is lost... yell out loud "help ive lost my copter and i cant find it"
then press your medical alert button and youll be all good lol sorry just some levity
Grin!
I had compass error with rc10, I disconnect ext compass and try many times to recalibrate and compass variance still there, I only change to Rc11, no new compass cal and int compass works well now.Thank's.
3.3rc11 , on a 3dr X8 I did Roll and Pitch individually and they completed ok. When I try to tune YAW it takes over 6mins and does not complete. I run out of battery and have to land. I land by switching to stabilize while leaving CH7 on in autotune and then disarm. When I check the params it doesn't seem to be updating any new PID's for YAW. I've tried it twice with the same results. I was hoping I could run it several times and get it to complete. Am I doing something wrong?
Thanks
Doug
Hi Doug,
If you give me a yaw tune log I will be able to give you the tune it ended on. Each time you start autotune it begins from the tune you are flying.
Leonard
Hi Leonard,
Leonard, Thanks for the reply
I checked the tune log before I saw your reply and, although I don't understand all the info, I could see that the starting numbers needed to be much higher. I increased the Stab_P, Rate_P, Rate_I significantly. And tried it again and it completed.
It was starting from Stab_P 2.5, Rate_P .16, Rate_I .02, Rate_D .005
I increased it to Stab_P 3.0, Rate_P .250, Rate_I .10, Rate_D .005
It then completed with Stab_P 7.2, Rate_P 1.07, Rate_I .107, Rate_D .000
Doug
Tonight my test quad flew a 3.7 mile mission perfectly on 3.3 rc11, and landed on a dime. This copter uses a RTFQ 55mm M8N with standard GPS scipts, no second GPS, and AUAV-X2 FC. No warnings or surprises.
I used Tower with the EKF monitor; excellent feature.
The only problem now is the logs won't download from the USB.
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