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
No idea. Your log looks perfectly fine apart from this error. My only guess is that you are moving the copter while the gyros are calibrating. Make sure you keep it absolutely still when you plug the battery in.
re- I tried disabling each of the compasses but I think that the EKF check ignores this and continues to check both.
Yes I remember Randy was going to look into making sure it actually ignored the compass during the initial checks if that was selected.
DIY tricopter question: I loaded 3.3-rc5 today (coming from 3.2.1)-- have there been changes to the Yaw mechanics? My yaw is now very sluggish/spongy in responsiveness. And it does not stop quickly when the stick is released, it slowly yaws to a stop (alt hold/stab/pos hold). Sometimes making a complete 360 if I'm making an aggressive turn and let go of the yaw stick. Reset everything to defaults/recalibrated/etc... same result. It used to be very aggressive in trying to hold/stop at the position when the yaw stick was released.
Hi Michael,
This is probably the Rate Yaw Filt number. If you increase it to 40 this should fix your problem.
I am trying to get a tri built now so I can support the tri pilots better.
Hello Leonard!
My octocopter with 18" props with original PixHawk on 3.3 rc5 also sluggish turn. And on 3.2.1 also sluggish turn. If wind >3-4m/s yaw copter sometimes turn 360 angle without my control.
Please, help - how to adjust to Yaw he did not turn in the wind? Yaw PID is factory default. pitch and roll i ajust.
And in my config on 3.3 rc5 param RATE_YAW_FILT_HZ=5. Increase this parameter for precision yaw?
Hi Aleksey,
No, leave that at 5Hz and experiment with increasing Rate Yaw P. Auto tuning Yaw should also help but I am making some changes that should improve things a little for yaw. These changes should be out in the next release candidate.
I had to increase YAW_P and _D drastically on my monocopter too. A question: does increasing these parameters beyond the range specified in Full Parameters List have an effect?
Hi Peter,
For most of them yes.
Thanks Leonard!
We "monocopter" enthusiasts are quite in the minority, had to ask here amongst the multidudes...
Actually, it's an asymmetric bicopter...;>)
Thanks! Will do. It is set at 10 now (default). I'll give 40 a try and report back. I'm not sure what use a log file would be but I've attached it-- just my last run tonight (just tinkering in the yard in the dark), You can see here where I was stationary in alt hold applying 100% yaw (it does several 360's), I let go of the stick and it looks like it did another 360 before resting. (well, okay... log is to large to attach, will see if I can link it from work tomorrow)
yaw example 2.png
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