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
So was this an issue before you changed the Accelerometer range and maybe you didn't need to up the scale?
Hi Michael,
No, the scale change was definitely needed to make the autopilot more robust to vibration.
Like the clipping issue this is only seen on copters with significant vibration and even with the new firmware many copters don't see it.
It is all about ensuring the autopilot is as robust as possible without compromising performance.
That's what I want to know as well!
I'm pretty sure I have seen these in my 3.2.1 logs, but maybe I am just imagining it.
Andy,
This issue is there in AC3.2.1 as well but it's not as obvious because we did much more hardware filtering in the older version. Now we do it more in software and that's exposed the issue. It'll be interesting to see if this produces a noticeable improvement in AltHold (and other modes).
Randy,
just out of curiosity, can you elaborate a little more on that. What is the difference between hardware and software filtering reading fight performance etc.
Thanks!
Thorsten
The problem is the data sheets are not very clear on exactly how the filtering is done in the hardware. On the Pixhawk we have enough processing power to do the filtering ourselves where we know exactly what is happening. This lets use exactly the same filtering on different sensors.
The new filtering has actually reduced the delay slightly, making our control loops a little faster.
It's possible to fix in 3.2.1 for poor people that doesn't have pix yet? :D
Hi Cala,
While the clipping is a problem for both the apm and the pixhawk, this is a pixhawk only problem.
Thank's Leonard
And 3.3 RC3 exceeds my expectations.
I hope that with further improve rc4.
Thank you very much for your interest randy
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