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
can someone tell me what this section controls in relation to flight characteristics? e.g. what happens when raising or lowering these values? do they only apply to althold/poshold/loiter modes or all modes?
Sorry for all the questions I'm just trying to round out my knowledge of settings and have not found a good online source w/ comprehensive info.
http://copter.ardupilot.com/wiki/arducopter-parameters/#throttle_ac...
make sure to study the wiki carefully. it is a very good online source.
Could one of you give me the default IMAX values for AC 3.3 and MP 1.3.32? I have been trying to find default values but IMAX is represented DIFFERENTLY depending on what combination of AC and MP you have. For example, in the below the IMAX settings are for AC 3.2 but earlier MP version 1.3.16. Some versions of MP have one less zero for IMAX, other versions have an added zero for IMAX. (1000.0 vs 100.0 for Rate Roll, or 8.0 vs 80.0 for Throttle Accel IMAX, etc) - I need the correct values for my version of AC and MP.
Kurt,
I'm keen to have MP remove nearly all the scaling done in the front end and I hope that's nearly complete. If there's any confusion the Full parameter list (or Full parameter tree) will show the unscaled value. I've created an issue for MichaelO to remove the scaling.
Thanks Randy- Yes I completely vote for having all numeric parameter values the same whether in the list / tree advanced views or in the more friendly settings UI.
since I'm not wholly familiar yet with MP, I'm not quite sure what the exact list / tree names are for the above UI settings. they are scattered throughout the list / tree correct?
I still don't know what the default values should be- can you help? I ran autotune and want to roll back to the default unchanged values. I'm not sure if autotune changes other parameters besides what is shown on the extended tuning page.
For me, it looks like mostly my IMAX setting were changed but I don't know what else might have been adjusted.
It's usefull for me to save params after tunning, then I use compare params to see changes and, if you don't like your changes you check the boxes that you like to return to your old params and is very easy and usefull, that metod allows you not to have to start again configuring batt, modes and things that you are shure are correct.
ok I see that the compare only shows items that are different than what is presently loaded.
what's odd is there are a lot of AHRS items like trims etc, that I personally did not change. are these items changed by autotune?
sure- i did not find it that easy though, even though I do have a pre-autotune saved config file.
problem is the list names don't really relate to the UI settings names, and the settings are scattered throughout the list. I'll figure it out..
Dev humble suggestion: What would be nice is to have a "compare" button on the extended tuning tab, and if comparing to a previously saved config, display a similar compare screen with the previous saved config settings. why keep it so difficult? would make tuning and comparing much easier / faster. - Besides, that would take care of any version scaling issues since whatever version of MP you are running, the current extended tuning screen and "compare" extended tuning screen would display data scaled exactly the same.
what are some of you using for ANGLE_MAX? The default setting on mine is 3000 - so that would be 30 degrees, that seems a bit weak no? the wiki says that 4500 is the default, but apparently that is not correct.
something odd- i enabled motor spin on armed (MOT_SPIN_ARMED = 1), and it does not seem to be working properly. when I arm the quad the motors don't spin. I will take off, fly around, land, and the motors will stay spinning until it auto-disarms.
with mot_spin_armed set to 1, I get that the motors will stay spinning after landing until the FC disarms - but - shouldn't the motors spin up as soon as I arm the FC with stick commands? I have my THR_MIN set to 115 so it is enough to spin the motors, as evidenced by the motors remaining spinning when landed post-flight.
I have BRD_SAFETYENABLE = 0 if that helps.
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