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
Thanks Randy,
I looked at the radio logs, and it doesn't seem to be anything related to radio inputs, as it can also be seen from the TLOGs.
My biggest issue now is to sort out the THR_VALUE for the failsafe....
Ah,
something else Randy.
Bunny hopping on land still here :)
Luis,
Really we need to see logs but I strongly suspect this is a ground-effect-on-baro issue. The Solo suffers from the same thing and you can see how it lands near the end of this video. Solo-master has a work-around for this that we may add to Copter-3.4 but we need to review it and ensure it doesn't mess things up for other users. If this is indeed the issue, then I think it will show up clearly as baro movement during landing and a physical change to the frame is probably the only viable solution in the short-term.
Just a positive reflection:
Two examples with Land (last 7 seconds of the Video).
https://www.youtube.com/watch?v=TYaxE3_TuLc&feature=youtu.be
https://www.youtube.com/watch?v=Ez16y-yep_M&feature=youtu.behtt...
No bouncing @ all. Btw., all Settings @ Quad Default , no autotune. Since I do a lot of flights at 1-2 m height, I don´t believe in ground effect issues.
I´m always using LAND (coming usually from PosHold) and it works perfectly with -rc10,-rc11 with AUAV-X2 ,Pixhack (with internal damping) @F450 and the Pixhawk Lite cheapo @ Mini Drones 500mm Carbon Frame.
PS: What I like about it,that the throttle hasn´t to be moved down
Thanks a lot for the good work !
If I get some time today, I'll try to get video of the bunny hopping :) but don't consider it as a serious issue. The "hopping" I'm seeing on this small 330 quad is way less pronounced that the one you have on that Solo video.
I'll have a look at the logs I linked to check the Baro behavior.
Randy, where is it possible to get list of all current messages codes now and WAV files that accommodate those messages?
I use Taranis LUA script to speak up that info and last 3.3 rc builds got way more messages than old 3.2.1 used to have, so it has to be synced up.
I'll update the wiki with all the pre-arm messages. thanks for the reminder!
As I've written on other thread before, after 3.3 is released the entire code must be grepped for the strings, as it has been done before for 3.2.1
Hi Paul,
please, can you share a litle more your hardware and software to use Taranis (LUA) for telemetry ?
thanks a lot
Sure, it is in my opinion a #1 thing to do for any Taranis owner.
This thread
http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter?...
and this video
https://www.youtube.com/watch?v=xWRNhiJ1BNk
has all the info.
Essentially you will feed standard telemetry into a Teensy board that is connected back to X8R that will send it all back into Taranis. On Taranis you run a specific LUA script that gives you all required data and 'speaks' all important messages to you. That was a core of my question as I need to sync up those messages now somehow and not sure if anybody looked at that yet.
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