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
Thank Rob, look forward to your parameters, you can do a meaningful comparison parameters. THX
Fantastic result Rob! Goblin 380 is an infernal machine...
You will need a cam operator... ;)
Hi~ Randy,i find another problem when i fly with 3.3rc7.i find IMU1 and IMU2 have different data,as you can see IMU1 ACC Z data is fine ,but in the IMU2 ACC Z data have so many signal burr.i don't know why,MPU6000 and LSM303D just in the same board but why they have different data.is that sensor's Low-pass filter is different?whatever it look like that make a high VIBE Z.
20150704115113.png
RSM_LI,
When I first saw the difference between the two IMUs I was also worried but according to others on the dev team it's down to a difference in the sensors and the built in filtering on the sensors. Apparently it's not something we can do much about. Some on the dev team think we would get better performance is we didn't use the noisier lsm303d but that's no general consensus yet on that.
Hi Randy,
Some more thoughts after some discussions with Bernhard Maener. He found that the reverse leakage current of PMEG1030 USB Schottky diode causes a log.1 to VBUS PA9 pin of MFU, even when USB is disconnected. I will try another diode - BAT20JFILM next week, but as there are a lot of X2 with PMEG1030, I kindly ask you to think over is it possible to avoid the replacements and make a fix in the firmware ?.
Thanks in advance with best regards
Nick
sorry,log is here
2015-06-29 11-49-13 21.bin.log
good evening,
today i tested 3.3rc7 with autotune including yaw. the values are much smoother. but my problem is still there.
there a lot of vibrations at higher speed and i don´t know why.i see it only with fpv google.
now i´m confused and very unhappy. i really thought 3.3 were the solution.
can pls someone take a look at my log....?
i used dropbox. the size of log is bigger then in earlier versions. :(
https://www.dropbox.com/s/v2wbz4yeq9zlhz6/2015-07-03%2018-29-49.bin...
thanks in advance
Hi SpeedyHulk,
A bit more information about the frame and maybe a photo might be helpfull. An onboard video would be great too.
I assume this is a 250 frame, is that correct?
It looks like you haven't set up your throttle curves. You have also not balanced the copter as it is very front heavy (forward CG).
So to get this thing flying properly you need to ensure the CG is in the correct spot. Set up the throttle curve parameters. Redo the autotune on each axis. Then you might start to get the most out of the frame.
For a 250 on 3s this is a good starting point for the throttle curve stuff:
MOT_THST_BAT_MAX,13.2
MOT_THST_BAT_MIN,9.9
MOT_THST_EXPO,0.6493804
MOT_THST_MAX,0.95
Sorry for late reply. I'm in holiday.picture and video is difficult at the moment.
The cg is nearly ok. My frame is a eyefly goliath....like a tbs discovery....http://eyefly.info/index.php?route=product/product&product_id=94 The auw is 1800kg. I have tiger mt2216 900kv with 4s and 11" graupner eprops. Thrmid is nearly 500.
I don't use thr curve. Are this the values you are written?
I have this problem since i have an apm. Perhaps i should fly in slow motion. But the copter isn't fast. Only 25-30km/h at 45degree pitch.but i need 60degree maxangel :)
In google group you have written it can be a solution to calibrate the esc with 10% more and then go back to right values 1100-1900.
Is this correct, too?
Hi SpeedyHulk,
For 4s and 11" props these numbers will work well.
MOT_THST_BAT_MAX,16.8
MOT_THST_BAT_MIN,14
MOT_THST_EXPO,0.65
MOT_THST_MAX,0.95
You don't need to worry about calibrating the esc's with greater throttle range then reducing it. This parameter does that for you MOT_THST_MAX.
I wouldn't be surprised if the throttle curve parameters I have given you above fix your problem. So set them then do an autotune with AGGR set to 0.05. Then let me know how it goes and send me the autotune log in case we need to look more closely at something.
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