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
Couldn't get your file. Wanted to look at motor voltage/current to have a scale idea.
Not saying this following should be but they work without mag problem:
- Small 500 mm quad 4S 8A battery props: 14x4.5. FC 100 mm above wiring/battery
- Medium 1 metre hexa 5S 16A battery props 17x5 T style. FC 170mm above wiring/battery
Had mix results with mag.
Magic trick: Self adhesive aluminium foil placed on the bottom frame.
No more mag issue whatsoever.
Hope this will help.
Henri
Danny,
I've added that note recently because flying the vehicle first on AC3.2.1 helps separate vehicle build and setup issues (i.e. vibration levels, compass setup, PID values) from the beta firmware issues. If you're using AC3.2.1 and see something strange, because it's such a stable release, you can almost immediately be sure that it's a vehicle frame issue. New vehicles especially those from first time builders often have a lot of small problems and it's best if we don't spend time on this thread investigating these types of issues but instead focus on finding and fixing beta firmware issues.
Danny,
Yup, that sounds great, thanks.
@Leonard
Here's the latest AT on the test quad using rc9 with AUTOTUNE_AGGR set at .08; don't know what you'll say but it sure seems to fly good, better than it ever has, including much reduced fast decent wobble. The pitch went from 15 to 5.6 with rc9.
Now I have confidence to put the big Y6 up on rc9 with AT. This will be interesting using TM 15x5 props as rc8 resulted in not so great stability.
Hi DG,
The tune looks good but it is interesting that the Stab numbers came out reasonably low. I would be interested in seeing the Autotune log.
I am glad you are enjoying the copter!!!!
Thanks!!
Leonardt, here are PIDs returned by ATT on AC3.3-rc9
and here is the log: https://drive.google.com/file/d/0ByNP743-FSrrTGxlcHc5MEtYams/view?u...
all controls feel a bit sluggish and attitude does not track well with the desired.
Hi Artem,
Sorry but that log doesn't have a full autotune. You may need to do your autotune again. It makes a big difference if you can do it in reasonably good conditions.
Andreas,
Thanks for the reports. The issue with the vehicle just falling looks suspiciously like a calculation error like a NaN or Infinity crept in somehow. I'm not a big Tower user but I'll try and reproduce this.
As for the follow-me box not working, I think the issue must be caused by this change or this one.
We've started processing the coordinate_frame field from the SET_POSITION_TARGET_GLOBAL_INT and SET_POSITION_TARGET_LOCAL_NED messages. The full list of frames can be found on this page (search for MAV_FRAME) but we only accept a subset.
SET_POSITION_TARGET_LOCAL_NED only accepts MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_OFFSET_NED, MAV_FRAME_BODY_NED, MAV_FRAME_BODY_OFFSET_NED
SET_POSITION_TARGET_GLOBAL_INT only accepts MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
My guess is that your follow-me box is using the global-int message and needs to set the frame to:
MAV_FRAME_GLOBAL_RELATIVE_ALT_INT (=6)
Andreas,
I've spent some time today trying to reproduce the fall-out-of-the-sky issue using FollowMe and the only way I could make it happen was if the GCS sent impossible lat or lon values to Copter. I can't be completely sure this is the issue but I think it's likely. The fixes in master are here and here and these will go out with -rc10 which will go out this weekend I think. I actually found places in Rover, Plane and AntennaTracker where this could happen as well so we've fixed them too.
Thanks again for the report.
Hi Andreas,
The Tower tlog files can be found on your device under /sdcard/Android/data/org.droidplanner.services.android/files/tlogs/org.droidplanner.android/
-Fredy
Tower lead dev
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