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!

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

        • Simple and effective. This should be easy for the devs to implement.

          • Developer

            Hi Erik and Terry,

            We have the solution already and it will let the pilot take off from a boat just like on land. There are a couple of key people that need to clean up the work. Time is always our biggest challenge!!

            • Any updates on boat mode?

              Winter is coming... so boat mode is not in high demand, but I'm still curious.
            • Awesome. I'm looking forward to this very very much.
            • Thanks Leonard... so we''ll expect it implemented tomorrow... LOL ... I understand fully on the time thing.

      • Great!!!!!! Thx!! 

        • Hold your horses there.

          From Chris' reply it seems "boat mode" will come to the SOLO, and since that is a different branch than the 3.3 "stock", we might not see this mode unless Randy or another dev ports it from upstream.

          • I believe Randy said he was fairly certain it would be in the next major update. 

            • Developer

              Yes, the "take-off from a boat" ability will be in AC3.4 and hopefully Solo will be brought back to master by then.  In either case, it'll be in AC3.4.  I hadn't thought about the 2nd issue Chris brought up - the case of taking-off in Loiter while the boat is moving and having the vehicle immediately lean back to try and stop itself.

              • re second issue

                I don't know about anybody else but I never take off in any gps assisted mode. Too risky being in such close proximity to myself and my boat.. Alt hold or stab for me.

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @SmallpixelCar: Wrote a program to find the light positions at @circuitlaunch. Here is the hypothesis of the light locations updating ba…
yesterday
DIY Robocars via Twitter
RT @SmallpixelCar: Broke my @HokuyoUsa Lidar today. Luckily the non-cone localization, based on @a1k0n LightSLAM idea, works. It will help…
Thursday
DIY Robocars via Twitter
@gclue_akira CC @NVIDIAEmbedded
Wednesday
DIY Robocars via Twitter
RT @luxonis: OAK-D PoE Autonomous Vehicle (Courtesy of zonyl in our Discord: https://discord.gg/EPsZHkg9Nx) https://t.co/PNDewvJdrb
Wednesday
DIY Robocars via Twitter
RT @f1tenth: It is getting dark and rainy on the F1TENTH racetrack in the @LGSVLSimulator. Testing out the new flood lights for the racetra…
Wednesday
DIY Robocars via Twitter
RT @JoeSpeeds: Live Now! Alex of @IndyAChallenge winning @TU_Muenchen team talking about their racing strategy and open source @OpenRobotic…
Nov 20
DIY Robocars via Twitter
RT @DAVGtech: Live NOW! Alexander Wischnewski of Indy Autonomous Challenge winning TUM team talking racing @diyrobocars @Heavy02011 @Ottawa…
Nov 20
DIY Robocars via Twitter
Incredible training performance with Donkeycar https://www.youtube.com/watch?v=9yy7ASttw04
Nov 9
DIY Robocars via Twitter
RT @JoeSpeeds: Sat Nov 6 Virtual DonkeyCar (and other cars, too) Race. So bring any car? @diyrobocars @IndyAChallenge https://t.co/nZQTff5…
Oct 31
DIY Robocars via Twitter
RT @JoeSpeeds: @chr1sa awesomely scary to see in person as our $1M robot almost clipped the walls as it spun at 140mph. But it was also awe…
Oct 29
DIY Robocars via Twitter
RT @chr1sa: Hey, @a1k0n's amazing "localize by the ceiling lights" @diyrobocars made @hackaday! It's consistently been the fastest in our…
Oct 25
DIY Robocars via Twitter
RT @IMS: It’s only fitting that @BostonDynamics Spot is waving the green flag for today’s @IndyAChallenge! Watch LIVE 👉 https://t.co/NtKnO…
Oct 23
DIY Robocars via Twitter
RT @IndyAChallenge: Congratulations to @TU_Muenchen the winners of the historic @IndyAChallenge and $1M. The first autonomous racecar comp…
Oct 23
DIY Robocars via Twitter
RT @JoeSpeeds: 🏎@TU_Muenchen #ROS 2 @EclipseCyclone #DDS #Zenoh 137mph. Saturday 10am EDT @IndyAChallenge @Twitch http://indyautonomouschallenge.com/stream
Oct 23
DIY Robocars via Twitter
RT @DAVGtech: Another incident: https://t.co/G1pTxQug6B
Oct 23
DIY Robocars via Twitter
RT @DAVGtech: What a great way to connect why @diyrobocars community is so valuable and important! Have to start somewhere @IndyAChallenge…
Oct 23
More…