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 got the same phenomena, F/W 3.3 MP 1.3.27....any solution for this problem?? thanks
Randy, im still getting the error EKF PRED POS HORIZ ABS
my question is, should I be concerned with this error? Will it affect how my pixhawk fly? Thanks again!
Started testing break mode with rc4 then today with rc5 - it appears if you arm the copter in loiter mode, leave it with minimum throttle and attempt to switch to break mode it does not stop the motors and does not trigger disarm - I believe pixhawk does not even switch to the mode (still accept throttle input). However with throttle above minimum (still on ground with very low throttle) it works.
AC3.3-rc5 is available through the Mission Planner’s beta firmware’s link. The small number of changes are in the ReleaseNotes and also below.
Changes from 3.3-rc4
1) Fix AHRS bad gyro health message caused by timing jitter and log IMU health
2) TradHeli gets better default rate PIDs
3) Small changes/fixes:
a) GCS can use MAV_CMD_MISSION_START to start mission in AUTO even without pilot raising throttle
b) GCS can force disarming even in flight by setting param2 to "21196"
c) rc-override timeout reduced from 2 seconds to 1 (applies when using GCS joysticks to control vehicle)
d) do-set-speed fix so it takes effect immediately during missions
e) GCS failsafe disarms vehicle if already landed (previously it could RTL)
We still have two or three fixes to go into AC3.3 but I think we’re getting close (please tell me if you don't think so!). Thanks again for your testing!
Randy,
is there any chance that Paul's PR to use GPS height for navigation (https://github.com/diydrones/ardupilot/pull/2310) will make it into 3.3? It can be switched off, so the general behavior will not change.
Best regards,
Thorsten
Thorsten,
It's missed the cut-off it seems. We just need to draw the line somewhere and that patch hasn't made it into master yet. Sorry!
Hi Randy,
I just started a series of tests.
A baro altitude drift of about 5m seems to be normal for flights > 20m.
I posted posted some logs for Leonard showing some Brownout Fails:
http://diydrones.com/xn/detail/705844:Comment:2020454
If you are planning to rebase rc6 on master to integrate the vibration logging (which would be awesome!) I would really appreciate if you could reconsider integrating Paul’s small GPS height navigation PR.
Randy,
thanks, I'll test it with 3.3 and looking forward to see it implemented in 3.4 officially.
A little OT: I wanted to submit some PRs but "git config --global core.autocrlf false" is not working for me on windows. Any suggestion?
I thought randy backed out of the line feed change?
Thanks Bill!
I was following the instructions provided in the wiki at http://dev.ardupilot.com/wiki/building-the-code/building-px4-with-m....
The problem is that there are much more changes in the code due to the automatic cleaning than I actually made :-) So the real changes are hard to find.
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