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
@leonardthall: Wanted to follow your advice and lower ATC_ACCEL_X_MAX.
did a find on the full parameter list but ATC_ACCEL_X_MAX isn't present. See screen grab.
Thank you in advance.
Regards.
Henri
Missing_ATC_ACCEL_X_MAX.jpg
Sorry Henri,
the X was a replacement for R, P or Y. So each of the parameters you show in your screen shot.
@leonardthall: Good morning and thank you very much for answering.
This information is worth gold!
Assuming that the numbers are for very aggressive handling, what would be the numbers for a very tame (meaning camera and video work) for a 1 meter multirotor?
Regards
Henri
Here are a few screen shots of things I noticed in the log I recorded today.
First, comparing ThrIn and ThrOut, ThrIn and ThrOut seem to be right in line while flying in stabilize but (adjusted by my hover percentage) there is a clear and somewhat disturbing introduction of noise on ThrOut when I go to PosHold.
Second, The barometer output "BarAlt" seems to have a ton of noise. I don't know if this is typical behavior for a barometer.
I will be the first to admit that I am unlearned, as far from an expert as I can be, and sometimes quite obtuse, but I can clearly see that there is a problem when I fly. Whether this is a software filtering issue, or a hardware issue of some kind, I cannot say. Hopefully someone can enlighten me and lead me to some sort of a solution.
Jeremy, could you post your log? bad vibes usually affect alt-hold flight modes, because it is not only the baro which is used, but all the accs and gyros.
I suppose I shouldn't assume that it is not firmware related, but should rather post my finding and let the experts tell me if I have a software problem or a hardware problem.
I have an AUAV-X2 mounted on top of my asymmetrical quad. It does not receive any direct prop wash, it is mounted in a case and does have foam sandwiched on top of the barometer. What I am finding is that the quad flies fantastic in stabilize but it is vertically twitchy in anything that uses the barometer. When hovering, you can hear it bouncing up and down with no inputs. If I pitch forward in alt hold or pos hold, it will audibly pulse the throttle instead of maintaining a consistent output. I feel like I am constantly chasing the stick to keep the altitude somewhat consistent. This issue has almost rendered any auto modes unusable as I am always too on edge to really enjoy flying. The upside to this is that I have become quite proficient at flying in stabilize, which was something I lacked before.
Jeremy,
Is the FC mounted on foam tape similar to what 3DR sells? If you hard mounted or used something that allows vibrations to easily transfer to FC then you may be introducing excessive vibrations normally accompanied with all propeller airframes. Try damping the FC from the airframe and retest.
I suppose I shouldn't assume that it is not firmware related, but should rather post my finding and let the experts tell me if I have a software problem or a hardware problem.
I have an AUAV-X2 mounted on top of my asymmetrical quad. It does not receive any direct prop wash, it is mounted in a case and does have foam sandwiched on top of the barometer. What I am finding is that the quad flies fantastic in stabilize but it is vertically twitchy in anything that uses the barometer. When hovering, you can hear it bouncing up and down with no inputs. If I pitch forward in alt hold or pos hold, it will audibly pulse the throttle instead of maintaining a consistent output. I feel like I am constantly chasing the stick to keep the altitude somewhat consistent. This issue has almost rendered any auto modes unusable as I am always too on edge to really enjoy flying. The upside to this is that I have become quite proficient at flying in stabilize, which was something I lacked before.
Only a minor thing that I have after updating the firmware: I always reset the pixhawk to itsdefaults before and after flashing. Then I compare the params to my saved file from before. But in any case I always got the error message that the compass is not calibrated.
Maybe someone could tell me how to prevent a new compass calibration with every firmware update?
I personally always do a full calibration after every firmware upgrade even if not required especially with 3.x as there are so many changes in the way the sensors are calculated. IMO I think it should be forced with each update as it would cut down a lot of issues since many are related to calibrations.
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