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!

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


          • I don't know - PosHold seems to do everything that Loiter did but does everything a lot better- and as Randy printed below you can adjust your flight speed parameters.  if you fly PosHold you won't go back to Loiter, ever.

  • hey guys - on the motor test tab in MP, does "A B C D" correspond to "1 2 3 4" as far as motor orientation on the 3DR pixhawk page for X quad layout and pin assignment?  I have no idea why MP is using ABCD instead of 1234.  no one uses that...

    • +1 ; I prefer numbers too

    • Alright- Well it seems there is a long history of confusion on this from what I've found online. there is apparently no intelligence with the ABCD buttons in relation to the model configured.  that's kind of bad.  if you set up your FC for an X quad in MP, it should automatically map the motor test buttons in the correct (model setup) configuration, and use rc output pin numbers instead of ABCD etc.. 

      I appreciate the great work on MP but it seems no one involved with the project flies quads / hexas :D  on of the most important uses for motor test buttons is to ensure your FC wiring is correct to proper motor locations. As it is, that is impossible to test in MP.

  • WOW!!!!

    Today, a windy day (as usually here) I try Richard recommendation to cover the Pix not to loose altitude, I used a salad bowl and works GREAATTTT!!!!!, It's impressive to watch this copter flying with this wind :O , impressive code too, Many thank's Richard and Dev Team :)  :)  :D

    The only thing I don't feel comfortable with this vers is that if I change from stab to Pos hold and throttle isn't in the middle, the copter loose altitude very fast, that didn't occurs for me in older vers; It's only a detail but a newbie perhaps can crash if surprise him/her. But I don't change this vers for nothing older, It's looks much better for my complicated cuad

    Richard: You can't find a solution for your Tanaris yet? .

    • I've learned very quickly to get the throttle stick centred before switching to Alt Hold! I think a delay on the switch and a centre stick reminder might be good. Time to tinker with my Taranis! :)

    • Cala - i had similar happen until I accurately set my throttle midpoint.  looking in my flight data log my hover is at 33% throttle - i changed my mid throttle to reflect that.  now there is only a small difference when switching between poshold / althold and regular flight modes like stab / drift.  Also i changed my althold deadband to 50 from the default 100.

      btw I use the plastic dome and flight deck combo to house my pixhawk lite FC- it is not expensive and works great.

      Rctimer R/C Hobby Online Shop
      RCTimer - the world's No1 Online Hobby Store. We stock a huge selection of RC products from Planes right through to Quadcopters and all accessories.…
      • Thank's Kurt, I'm going to play with dead band perhaps solve, I'm going to re-check the mid throtlle in case too.

        This disposable salad bowl is very similar than RcTimer one, fix perfect on my cuad and is very I'm dieting to have more domes ;)3702722296?profile=original......perhaps looks horrible but I'm so happy than I look nice :D

        • very nice innovative solution. you may want to spray paint the inside of the bowl black, tape off an area inside the bowl first, in front, over the status lights so you leave a clear "window".

          • Good idea, Thank's 

This reply was deleted.


DIY Robocars via Twitter
RT @a1k0n: Did I get rid of hand-tuned parameters? Yes. Am I still hand-tuning more parameters? Also yes. I have a few knobs to address the…
DIY Robocars via Twitter
RT @a1k0n: I'm not going to spoil it, but (after charging the battery) this works way better than it has any right to. The car is now faste…
DIY Robocars via Twitter
RT @a1k0n: Decided to just see what happens if I run the sim-trained neural net on the car, with some safety rails around max throttle slew…
DIY Robocars via Twitter
DIY Robocars via Twitter
RT @SmallpixelCar: @a1k0n @diyrobocars I learned from this. This is my speed profile. Looks like I am too conservative on the right side of…
DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars Dot color is speed; brighter is faster. Yeah, it has less room to explore in the tighter part, and t…
DIY Robocars via Twitter
RT @a1k0n: I'm gonna try to do proper offline reinforcement learning for @diyrobocars and throw away all my manual parameter tuning for the…
DIY Robocars via Twitter
RT @circuitlaunch: DIY Robocars & Brazilian BBQ - Sat 10/1. Our track combines hairpin curves with an intersection for max danger. Take tha…
DIY Robocars via Twitter
RT @SmallpixelCar: Had an great test today on @RAMS_RC_Club track. However the car starts to drift at 40mph. Some experts recommended to ch…
Sep 11
DIY Robocars via Twitter
RT @gclue_akira: 世界最速 チームtamiyaのaiカー
Sep 10
DIY Robocars via Twitter
RT @DanielChiaJH: Always a good time working on my @diyrobocars car at @circuitlaunch. Still got some work to do if I’m to beat @a1k0n howe…
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: My new speed profile for @RAMS_RC_Club track
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: Practiced at @RAMS_RC_Club today with my new @ARRMARC car
Aug 28
DIY Robocars via Twitter
Aug 24
DIY Robocars via Twitter
RT @gclue_akira: 柏の葉で走行させてるjetracerの中身 #instantNeRF #jetracer
Jul 4
DIY Robocars via Twitter
Cool web-based self-driving simulator. Click save when the AI does the right thing
Jul 4