Developer

Copter-3.3 beta testing

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!

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Replies

  • Is there a typo in this note?

    Note #4: set SERIAL2_PROTOCOL to "3" and reboot the board to enable FrSky telemetry like in previous versions.

    MissionPlanner Options for SERIAL2_PROTOCOL:        

    1: GCS Mavlink 2: Frsky D-PORT

    I assume that "2" would be the correct value, am I right?

    • Developer

      dronebohne,

      I think your mission planner may be out of date or perhaps it's just not the beta version so it's showing the parameter descriptions for Copter-3.2.1 instead of 3.3.

      "3" is FrSky DPort

      "4" is FrSky SPort

      Here's the code where we set the values the mission planner should display.

      • Thanks for the answer :)

    • For my iris+, I use 3.

    • I had a similar issue with S-Port telemetry. I set it to 3 and it didn't work but setting it to 4 works great.

  • I am considering testing 3.3 from 3.2. It’s been flown many many times on 3.2 and it flies decent. Is there anything in particular the devs would like to see or need at this point? Should I do a flight twice the exact same way one in 3.2 and one in 3.3 and post logs or is there something even more specific? The only think I’d like to see improved is flying in wind. Perhaps I just don’t have it tuned perfect but I’ve done the best I can with it but it does seem to wobble a bit in high wind and or the normal bouncing on fast deceleration. 

    • Developer

      Richard,

      Sure, please give it a try.  It's quite stable now it seems and we're just working through real edge cases mostly before the final release. 

      Really what I'd most like to see is -rc9 dataflash logs from high vibration copters especially those that exhibited attitude control problems with -rc7 and -rc8.

    • I wait for your results with windy, finally I'm waiting for a Pix to experiment with wind and ex-old cuad :D

  • RC9 is really nice update, thanks,

    Below small video from my FPV camera, a little bit "karussel" but anyway

    https://youtu.be/ij9oUIDix38

This reply was deleted.

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