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
Exactly, it looks to me very strange and suspicious cyclically, as if something had ended and began, a filter, a loop program ?. Once again, I checked the drive, and it can not be a better balance, carbon frame, rigid, propeller only 12 inches, engines E-max 3506 650kv, before I flew on 15 and 18 inch propellers and had less vibrations). Anyway, it's great, new soft, tests are needed
I imagine this has more to do with the changes we've made in the filtering and accelerometer scaling. AC3.3 is more resilient to high vibes but I wouldn't be surprised if it also shows vibration more accurately now.
Hi, thanks for the information. So, is it acceptable vibration standards will change? from + 3-3 and -5-15? Do I have to worry vibration level? Besides great work
We need to discuss this more before we can give new guidance on acceptable vibration levels in the logs. This is early days in beta testing this new code still.
My feeling at this point is that what you have in your log will be fine. What is probably most important is that 90% of your data looks good, while 10% appears to be spiking outside the normal range. If you're not having a problem, I suspect it will be fine.
It is a pleasure to help.
https://www.dropbox.com/s/94qfz2plg5b9zif/log%20alien%201.rar?dl=0
https://www.dropbox.com/s/31gnx0snx5mltri/log%20alien%202.rar?dl=0
thanks
I would go for different led flashing and to let Pilot take the decision. For example green flashing would be 3d lock and good hdop, where solid green is best with all the New checks. The reason is simple mostly if you are outside with a lot freespace this will be not so important. Finally it should do fun it's a hobby it's not an Airbus....
Any chance you could rename this to 4.0! This would make a clear deviation between APM and PIxhawk.
The reason I say this is that I was given an old apm 1.0 and it took we a lot of reading and a lot of time because I could not find where support was stopped for 1.0 -Lots of failed attempts to upload firmware and get mission planner to work and even when I had a copy that kind of worked I kept wondering if I had the best one or an early one.
For first timers this would make life a lot easier.
Plus 10 !! Yes I think it should named 4.0 just the facts .. dropped APM Also EKF on as default ..etc .. as you guys say there has been a lot of changes .. why not let APM 8bit have .. 3.2.1...2..3..4..5.. etc and 32bit controllers Have 4.0 ...1..2..3..4 etc
That would be a great idea.
I think its ok to go for a new major relase just because you drop APM support.
ATM it is allready confusing which Mission Planner works best with which firmware.
Cheers
Axel
Is RC2 still in time for upcoming weekend?
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