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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          • Looking forward to contributing some $! I think it'll do really well given the amazing community that has formed around this project. Seeing how much work you guys in the dev team have done coding, and how much assistance everyone gives helping others with issues they have, is really uplifting!

          • Randy: I agree about Chris It's don't looks easy to start this from 0, now there is a lot way walked, results to show to sponsors, many people using this code as professional work that shure have interest to support, many hobbysts following this, a great team behind the ardu; that all exists thank's to Chris and I'm not going to forget that. The best Luck for both :D

          • re-We're going to be setting up a donate button on ardupilot.com in the near-ish future.

            GREAT!!!!!  It's not unreasonable at all not to mention it's voluntary. 

            Is the a repository to download dated versions of 3.4? I installed that in December and have had zero problems. I'd like it install it in Pixraxer. Is there some way to tell what version / date installed I have now? I know in the message page it says what version is booted up and a few numbers after that are those numbers a reference to that? Then again.. I know there were a few minor glitches you worked out for copter code for pixracer... guess that wouldn't be in a dated 3.4 if in 3.4 at all? 3.4 has boat mode... something I definitely need. 

            Thanks Randy!!!! I wish I could help out with code but I'm just a carpenter! LOL

      • That nice Randy, It's possibe, until you found sponsors to have a "DONATE" account to send a little amount of money everybody that's download the new vers? I think, with 70.000 members, many  have two or tree boards, a little esford that anyone here do, if everybody do, I hope you can sort this transition with less troubles; you and team always helps Us, now time to Us to help a little. ;-)

      • @Randy, I thought you are in the safe zone, Sigh:-(

        The key is successful introduction of Pixhawk2 that is the key to new ArduPilot eco system.

    • it's amazing how active chris anderson in the news reports is.
      I think the slower are the developments that sales of 3DR is also slow,

      My thanks to all developers for this wonderful project.

      All developers have helped so 3DR has grown.

    • just had a look here: https://github.com/diydrones/ardupilot/milestones 

      The AC 3.4.0 milestone is only 27% complete. I guess now that a lot of developers have had their support withdrawn by 3DR the dev speed might be slowed down a lot. I'm not sure really what's going on. In the end it is an open source project and therefore has no real 'deadlines' to meet.

      It is a shame, though. I was eagerly awaiting the EKF2 and boat take off. I tried flying master under controlled conditions and it worked great. But I'm too scared to fly master in the wide open.

      • 27% ? I had no idea it was that far behind and was really looking forward to integrating some of the neat stuff in my copters this year, but without dev support it won't happen. Things like collision avoidance, advanced Lidar, boat launching etc.

        If there was a way to support the effort, I'd gladly pay a yearly fee. It seems there was mention of providing monetary support for devs, but it wasn't clear if it was for PH1.

        I love my DIY copters, but if 3.4 doesn't materialize this summer, gulp, the P4 is looking to be a viable option. Solo is fine and is supposed to support add-on hardware, but nothing is available yet that I'm aware, plus I need more flight time.  

      • I worked around taking off from a boat by arming my quadcopter on land, and keep the battery connected (it will soon disarm if not touching the throttle stick), then departure on boat. When I reach the site I want, re-arm the quadcopter. I did not use RTL, out of concern the drone might go back to where it was armed, but set the last waypoint where taking off, then land it in loiter mode.

        I was using pixhawk AC3.2

      • I've been flying 3.4 since Dec without issue. Although if anythings been done since Dec I guess the experience could be different. 

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