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
I would generally agree except the problem only arose after updating to 3.3. And when I change the SR params to correct the issue in 3.3 the params revert back to what doesn't work after a few power cycles. I have no idea what the issue is... hopefully it has nothing to do with 3.3.
Aargh stupid forum software. Let's try again.
The SR parameters are set by any device plugged into a serial / telemetry port that issues a stream request over Mavlink. This will override whatever you try to set them at.
AHHHHHHHHH so does this mean the FW on my Teesny board could be the culprit??
Almost certainly!
on 3.3 rc12 im getting inconsistent compases as an error with a yellow light on my pixfalcon anyone have any ideas?
i made sure to turn off the internal one and use the external in mp.. so im going to go back to 3.2.1 till this is offically released unless anyone has ideads?
You don't say when or where - on USB power or battery power? In your office or in the field?
Most likely a hardware problem with your pixfalcon. Even though you are using the external the internal is still checked for consistency. What offsets does the internal give you? Does the output in the MP calibration screen look truly spherical?
It also could be a problem with compass MOT - are you using this?
well i set it in full params to 1 which is external... and re did everything calibrations still does it...
so i just went back to 3.2.1 and ill stay there till the officail is released
James,
Is there a dataflash log file somewhere?
just flew in a bit of wind.. on 3.2.1 i had no issues stock params pids ..on a zmr 250 frame... i just used 42hz instead of the default.. drifts slightly to the left.. maybe because of the wind.. but omg my heart was racing.. used a 20 c 1300mah zippy batt 10 bucks on hobby-king got about 4 min before it gave me my warning..
3.3 is just too buggy now..... im using the micro pixhawk from hobby-king https://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct...
with the apm micro sensors.... no issues once i switched back with the compass issue..... even after i choose which one.. from what i understand the pix picks the external one if its attached automatically but i had to manually go into mp and choose 1 which is external.. then i 3.3 rc12 all the issues arose on a clear day too.. everything calibrated... now my external gps takes a long time to lock on..
when i use my 450 quad with apm 2.6 its almost instantaneous ..
maybe because its a official one and hobby king uses Chinese clones i dont know.. but once i switched back flew great.. alot of up and down and a little drift to the left.. but with 10 mph winds maybe thats normal.. held loiter fine..
with all my money invested around 500 dollars on this little 250 quad i was sooo nervous lol..
the cool thing i didnt have to touch the pids then again i was only hovering and in a small back yard... but pretty stable
heres some pics of my setup..
1806 motors.. Chinese qav250 frame.
12 amp afro esc's
micro pixhawk with gps and pd board
3 blade 5x3 props
spectrum 6210 receiver with satellite
dx8 radio
3dprinted parts for cell phone holder
telemetry kit
galaxy s4 phone as tablet
ppm encoder
20151006_185102.jpg
20151006_185158.jpg
20151006_185023.jpg
Reload the params and double check the internal is still set to be off. If it is then that warning seems to be a mistake doesn't it?
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