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
I don't think so. I left one on over 24 hours once and it was still running.
Hi Ian,
Like Rob I have also left a pixhawk running for 24 hours. I have done one up as a logger for different purposes. All I did is set the standard copter code to log while disarmed.
Nothing has changed as far as my testing goes, I have been reversing channel 2 on my radio since ER9X on my 9X radio years ago, later with OpenTX on Taranis.
I swear I remember reading somebody else had this happen as well... I think it's buried in this 3.3 beta thread.
I had to reverse my pitch setting too. Stick forward, -100% stick back +100%.
In the radio calibration screen it is not clear which way is pitch forward and which is pitch backwards. A simple label at the top and bottom of the calibration graphic would help to make obvious that a control is reversed before finding out on the test flight.
The only other FCs I use are with OpenPilot (Revo, CC3D) and Ch 2 is reversed on them. I suppose the expectation is that this will be noticed in the radio calibration process.
Ok, I reviewed the RC calibration wiki page and it didn't mention that the green bars should move in the opposite direction to the transmitter's stick for the pitch channel so I've fixed that.
Thanks for pointing this out.
related??--- The last time [ 2 years ago ] I set up a plane [ gas ] on a pixhawk I literally had to install and electronic servo reverser to get the GCS throttle [ ch 3 ] display to read high pwm on high throttle and low on low throttle so that throttle FS would work. I think it was an issue that the ch 3 reverse button in APMP2 would reverse the servo but should not have also reversed the ch 3 pwm display… or something like that. Reversing it on the TX didn’t work right either. I spent 3 days messing with it I couldn't believe I actually was gonna need a physical servo reverser but it did. Bottom line I think sometimes when you actually have a servo there are times you need to reverse the throw but NOT the pwm direction shown / read in the GCS and pixhawk.
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