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
Lots of dittos on the appreciation
hi
just tried 3.3 from 321 all flies great on previous settings after calibration only problem is in loiter mode when i let go of sticks quad flies on for about 6 to 7 meters after letting go of sticks in any direction yet in drift mode its like its hit a brick wall when i let go of sticks is there a setting that could affect this?
yet loiters perfect when just hovering no user input
cheers stuart
Hi all Pos Hold vs Loiter fans,
Both use the same code when you are sitting there without touching the sticks. The difference happens when you start to move around.
Pos hold goes from Loiter on that axis to your stick angle and goes through a breaking procedure when you let go of the sticks.
Loiter has a almost perfectly smooth transition with no discontinuities. This lets you make very slow very precise changes in position. Loiter is also always controlling the position.
Most people won't notice the limitations because of the way they fly and their tendency to avoid the conditions that really let loiter shine. If I am landing in a bunch of trees with 40km/h winds gusting to 60km/h in the presence of rotors and turbulence. There is only one mode to take the stress away.
All things to be better are going to be welcome but Pos Hold and simple mode is after and before for me; great work :D :D ....I'm the president of Pos Hold fans club ;)
Thanks Leonard- Really good to know how these modes work under the hood and the design differences in flight characteristics.
So I gather, from your take on things, that "PosHold" kind of stands for "Piece of sh** Hold"? wahaha ;p
Hi Kurt,
I am not a big fan of Pos Hold but every mode has a place and this one was a very popular addition.
Thank's for clarification
That's Loiter better than Pos hld to land in that conditions?
There are actually parameters that can be used to adjust the slow-down speed. I haven't played with them yet but they come from the Solo people.
WPNAV_LOIT_MAXA = 1000
WPNAV_LOIT_MINA = 90
WPNAV_LOIT_JERK = 940
WPNAV_LOIT_SPEED=900
Hi stubugs,
Loiter doesn't break like pos hold. Loiter is designed to drift to a stop like stabilize does. The intent of loiter is it should resemble stabilize on a calm day no matter how windy it is.
So when you let the sticks go it slowly drifts to a stop. If you want it to stop quicker you need to reverse the sticks in the same way you would in stabilize.
Hope this makes it clear.
+1 on that - There is absolutely no reason (AFIK) to use Loiter mode any more with the new Position Hold mode available. You Devs did a **fan-freaking-tastic** job on this new mode, so thank you.
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