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
@Dave, an intelligent FFT analysis algorithm can self match sampling rate since samples can be approximated by continuous sinus/cosinus functions Infrasonic vibrations can be generated within very small cavities due to Helmholtz resonance (Holmholtz resonator)
longer reply has been already cut three times
just email me to get full reply
darius
manta103g@gmail.com
I've always used a pixhawk on the two plate with rubber-thingees mount which has always worked great. I then tried the hobbyking orange foam that the wiki suggests and it was a complete disaster for me - I got all sorts of barely recoverable control issues even in stabilise mode, so I went back to the two plate mount and worked perfectly again. If you're getting high vibes it will certainly affect stabilise mode and it's a complicated subject with no single answer, so if you're having problems then try a different solution until you find one that works. If you're getting clipping and high vibes then fix this first as it will always make your flights unstable, gps is largely irrelevent at this stage.
Thanks for your answer.
I have these mounting pads and thought of switching to the orange latex foam. But as this didn't work for you, I am afraid it won't help in my situation either..
The two plate mounting solution is no option for me because i want the FC to sit between the sandwich plates and there is not enough space for this mount.
I may have to test my motors maybe, as I already balanced my props.
Dave: I try many things and solve with this http://www.hobbyking.com/hobbyking/store/__76727__APM_Flight_Contro...
Aargh this braindead forum software bit my post in half again..
The best of all I found was the original foam that comes with the pixhawk but it's difficult to find/get other than 3dr (which is not feasible outside of US). If your X and Y vibes are OK then your motor/prop balance is probably OK so just try different density foam mounts and see if your Z vibes drop - at least below clipping levels as that's what seems to really upset the autopilot. It's also worth looking to see if you have any bell play in the motors as that shows up with high Z vibes - see if you can find an excellent post on this subject by leonard if you can find it with this ridiculous antiquated forum software. If you'd missed it, I'm not a fan of this forum software.
yeah, this software is a bit strange, I agree.
Okay, maybe I should try Moon Gel pads..
I will look into this and try to improve the z vibes before I fly the next time, thanks!
ps - I wouldn't bother looking into ekf/gps or anything more complex until you've got vibes under control, so fundamental are they to stable level flight. In hundreds and hundreds of flights with lots of different hardware with this awesome software I've only ever had unreliable behaviour due to vibes.
Hi Dave
You're probably better off asking here:
http://ardupilot.com/forum/viewforum.php?f=111
or here:
http://ardupilot.com/forum/viewforum.php?f=80
This thread was for beta testing of the 3.3 code which is long over, even though in the last week or two it even seems to have expanded to general 3.2 and 3.4 questions..
somehow, I don't receive the activation mail :(
-
55
-
56
-
57
-
58
-
59
of 558 Next