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
Hi Gregmaan,
I don't think what I am seeing has anything to do with your esc settings. I am seeing wobbles in your controllers during your tune. This is the physical rotation of your copter, not the acceleration. I can see this in the auto tune logs and the RATE logs.
I am not sure why you are changing things I didn't advise you to change. I don't see any reason to change your esc's and definitely don't see any reason to change RC_Speed.
Hi Leonardt,
sorry for doing things you did not told me, but I thought I could reduce them by changing parameters in the escs.
Now I did autotunes with your recommendations:
The tuning process seems to run much faster and with aggr of 0,07 it looks not bad for me (0,07 was not possible from the defaults before). Can you take another short look in the logs?
https://www.dropbox.com/sh/dnarxid3xychq1u/AADKFswaADCzTSE_uCl6Eupq...
Maybe you have some additional recommendations?
Many Thanks
Cheers
Hi Gregmaan,
No problem at all. That Autotune is now starting to look much better. No wobble in the tunes now at all.
I suspect it is coming from your gimbal and that is normal. The trick is to make sure the tune doesn't move at the same frequency as the gimbal.
So the million dollar question is how does it feel to fly?
Hi Leonardt,
sorry for the late feedback: The Copter is flying very good.Many thanks for your support. In the meantime i did some manual corrections and its getting still better. I am still struggeling with your suspicion of the gimbal. I removed the gimbal within your first recommendations, but this doesn´t cure my vibs. Thats why i am still fighting with my esc´s. In my opinion the vibs came from the motors with the long arms (T960).Found something that reduces the hard motor responds. and will try to get a autotuned setup with lower D results. Many thanks !!
I just did a maiden of my rebuilt system, and I did not experience any issues at all.
Drone is very stable, I see during moving in alt hold it had a tendency to drop altitude before autotune, after autotune it seems to be more stable. I will yet analyze it more, later.
I flew alt hold, stabilize, loiter, pos hold, regular with combination of super simple, all seemed to work as expected.
compared to APM I have to say - movement in the position hold is way smoother and much more precise. Not sure if it is a dual GPS now, 2 compasses or faster board or better code - but it is obvious. All in all I did not get any issues at all and was pleasantly surprised based on what people write here. May be I did not do something specific where those issues are apparent.
Only possible downside I can note - first autotune, from bone stock parameters took 11 min.
It is a bit on a long side, imho. some drone probably may not have enough juice to fly that long. second autotune took twice faster, it reduced some parameters it did set on a first flight but, similar to APM 3.2 code - movement smoothness was improved tremendously after that second autotune.
All in all - everything was quite nice. I took my time to work on the hardware side here, it is perfectly balanced and almost no vibrations and I think it pays off.
Another question: What do you think about reducing the RC_Speed?
Hi Leonardt,
thanks for the quick reply! The vibrations came from the motors/escs. I´d like to reduce the vibrations before making another autotune.I thought it was better with low PWM setting but you say no.So I will reconfigure the blheli escs again tomorrow. Can you please give me a hint how to visualize these vibrations?
Or did you mean the spikes within one second?
Cheers
Gregor
Completed auto-tune (pitch/roll) today and ended up with 0 P values. Did I do something incorrectly?
2015-06-14 10-23-30.zip
Hi Robert,
Sorry for the late reply.
The results of your autotune are:
Roll Rate P = 0.226
Roll Rate I = 0.226
Roll Rate D = 0.012
Roll Stab P = 14.4
Pitch Rate P = 0.508
Pitch Rate I = 0.508
Pitch Rate D = 0.021
Pitch Stab P = 11.25
So I don't see how a zero got added to your tune. Which values have zero in them?
Thanks Leonard, I even more confused now. I believe I saved the tune parameters and when checked on MP (both tuning and full parameter list I got 0 values after several refresh. After your response connected again now I can see different P values (0.163 both roll and pitch P) that does not match with the tune result either... furthermore, is not RATE_PIT_P and RATE_ROL_P limited to 0.3 max ? .. so Pitch Rate P = 0.508 ? In your list above both RLL and PIT P and I has the same value too.
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