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

  • Hello all,

    A crash apear on my octocopter but I don't understand why...

    I have see the log but I'm not an expert of log review and I can't define the source of the crash.

    (The log notify a first crash but it's just an error of me on the take off the real crash is the second one.)

    Version is AC3.3rc12.

    Thank you in advance.

    I hope my experience will also help other people.

    74.BIN

    • Developer

      Hi Ruchat,

      You have a massive motor output mismatch. It looks like motor 4 is struggling.

      Sorry to hear about your crash!!

      3702598775?profile=original

      • Hello,

        Thank you for your analyis I will check my motor 4.

        Have a nice day.

      • Sorry my ignorance, How do you detect that motor 4 is the problem there?

        • Developer

          Hi Cala,

          I am plotting RC out there and in a steady hover the lines should be pretty much on top of each other.

          I can see Ch 4 is a problem because it is much higher than any of the others. You can also get similar problems if your arms are twisted.

          • @leonard - good info thanks- i did a 9 min flight with RCOUT logged and they all overlay on each other. suggestion, maybe in 3.4 the "default" log bitmask should be the one you recommend? that way new pilots having questions will already have the needed log data to post here.

            I see now that my increase in Z axis vibe (up to 80 at some points), is directly in relation to altitude climb events. so either my bells have vertical play or the arms are flexing. but it's not seeming to affect flight behavior, the only thing I'd like to tune out is some bobbling in poshold mode. it seems to bobble a bit too much even with slight to no wind.

This reply was deleted.

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