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
Michael,
Yes, the VIBE msg in the logs is new. It's got two bits of information in it (an example of my IRIS doing a mission is below). The VibeX, Y, Z values show the standard deviation of the vibration shown in m/s/s. It's not clear what is an acceptable level yet but I suspect that generally below 15m/s/s with short peaks higher is average and good enough.
Clipping is never good because it means the accelerometers hit their maximum of 16G and there will be some inaccuracy in attitude, position or velocity estimate. "20" is a pretty low number though and perhaps it happened during a hard landing?
here is how it looks on my hex - and it got AUAV case superglued to the top plate. 2 spikes are landings.
Paul,
wow, these are pretty low values - especially without any damping!
Can you provide some details about your setup?
So your vehicle is better than my IRIS in the x and y axis, about the same in the Z. My test was with a circular mission, yours looks like it was probable a stable hover... that could explain why my IRIS's vibrations were higher but I think hexacopters often have lower vibration.
Looks like your vehicle has no vibration isolating foam? That is the way of the future especially once we can get the 4k updates out of the accelerometers (possible once we swap the MPU6k for the MPU9250).
I was curious to see how it will work out as armattan got bobbins and a same case sitting on foam.
Copter-3.3-rc6 is now available through the mission planner's beta firmware link. Changes are in the ReleaseNotes and listed below.
Because of the delay and some structural changes in the code we ended up “rebasing on master” including pulling in all the latest driver changes from the px4 group. This means the code is bleeding edge again. The good thing about this is a bunch of new things are in this release that wouldn’t have made it in otherwise. The bad news is that we need to be on the look-out for any small weird issues.
Copter 3.3-rc6 25-Jun-2015
Changes from 3.3-rc5
1) EKF related changes:
a) reset altitude even when arming without GPS lock
b) fix yaw twitch caused by EKF heading estimate reset
c) fix IMU time scaling bug that caused height estimate to deviate from the baro
2) AutoTune improvements:
a) improved yaw tuning by increasing yaw step magnitude
b) added logging of accelerations
c) improvements to step tests
3) Improved crash check:
a) allow triggering even if pilot doesn't move throttle to zero
b) easier triggering by removing baro check and using angle error instead of absolute tilt angle
4) TradHeli:
a) swash moves while landed in AltHold mode
b) improvements to land detector
c) fixed RSC Runup Time calculation
d) Rate FF Low-pass Filter changed from 5Hz to 10Hz, more responsive
5) support Linux builds for NAVIO+ and Erle-Brain (http://firmware.diydrones.com/Copter/beta/)
6) Other improvements / Bug Fixes:
a) sonar pre-arm checks only enforced if using optical flow
b) fix EKF failsafe bug that would not allow recovery
c) full rate IMU logging for improved vibration analysis (set LOG_BITMASK to All+FullIMU)
d) new VIBE dataflash message records vibration levels
e) default MNT_TYPE to "1" if servo gimbal rc outputs were defined
f) RC_FEEL defaults to medium
g) addition of SToRM32 serial support (supports mount angle feedback to GCS)
AC3.3rc6，Circle mode, still unable to control the height change by throttle stick.
When the previous AC3.2.1, controls the Circle altitude changes when Circle mode is effective!
There has been a problem since 3.3 !
zhangpengsir,
Hi mate, Randy found it. Thank you very much!!!
https://github.com/diydrones/ardupilot/commit/0264b1aa847ce19e27a67...
Hi zhangpengsir,
Do you have a log I can look at.
I have looked at circle and it appears to be right.
Hi zhangpengsir,
Did you told a developer about this or is this issue already beeing reported somewhere?
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