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
The logs were still on the pc. I guess with the Lions winning today my exuberance deluded me to think I loaded the correct log. So much for fantasy vibration levels.
2015-10-18 20-31-08 65.bin
Now much sense, I'm near that kind of graph, you scared me ;)
DG,
Ok, yes, so about 2x or 3x the levels on my IRIS. We think things go bad when the vibe levels are over 60m/s/s so it'll probably fly ok.
Randy: What it mean clip? how to interpret?
Cala,
Clip means that the accelerometer was overloaded, the acceleration (vibration) was higher than the accelerometer is able to detect.
it looks like this: (picture from wikipedia):
To the left is the real signal, to the right it is "clipped".
In apm there is a counter (clip0,clip1,..) that increases every time the signal is clipped.
How to interpret: clipping is bad and should be avoided whenever possible. It is ok when it happens while landing the vehicle.
Many thank's Lukas, very clear explanation.
New build:
H4-680 Alien frame
CUAV Pixhack hard mounted (no foam)
KDE 2814XF-515 motors
KDE 35A ESC
CUAV GPS/mag
Gemfan 13x5.5 CF props (for testing only)
AUW: approx 2.7 kg
After sorting out ESC issues, I took it up for maiden flight, just hovering around a bit. All went well except the copter has some oscillations. Before doing AT I'd like to dial it in a bit, but to be honest am not sure where to start given all the changes in 3.3.
Here are the vibration levels. Spikes in Vibe are takeoff and landing:
Link to flight log
https://www.mediafire.com/?od7ncedxv36xoi8
Doesn't look like this vehicle actually flew so I don't think we can trust those Vibe numbers. Sorry!
I can assure you it did fly. I can also assure you I used the wrong file. What a dope, will try again tomorrow since I cleared out the logs.
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