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
I had that problem too but I change so many thing's, one of them, the compass, I had compass interference near limit but now I change for an ext -gps one, less interference and that effect dissapears, I disable int compass too and enable auto offset detect, but I'm on first flyings of these modifications yet, perhaps this helps.
Did you check compass with the flags during flying?, looks very usefull.
I might have found a bug.. I updated to the latest 3.3 release today, as well as updated mission planner.
Now my RSSI display in mission planner occasionally locks up. Well, pretty often. I flew a few times, and it happened each time. I close mission planner and re-start it, and it works again.
Another issue that might be 3.3 related. I connected my storm32 gimbal to pixhawk via mavlink. Now my MinimOSD thinks I'm constantly changing flight modes and gong in to RTL. It's not changing flight modes, and mission planner displays the correct one. But the OSD is not happy.
If either of these is known and has a fix, let me know.
Thanks.
ScottW,
So this is really the OSD that's not handling multiple vehicles or components properly. The OSD is seeing heartbeats from the vehicle and the gimbal and although they have different a different sysid/component-id pair the OSD is getting them confused.
Which OSD are you using?
MinimOSD Extra. Micro hardware version from RTFQuads.
I'm not sure if anyone is developing it anymore..
But fixing this issue, and adding all the mavlink/mission planner error messages (pre-flight check errors, etc) would be amazing. If the errors were available, I could fly w/ only goggles, and not need a computer.
It seems everything was locked on Tower, but I didn't fiddle with anything as it was the first time and figured it was a fluke.
Weather permitting tomorrow I'll get the laptop out and see what it does, but you say it happens with USB connected also? I hadn't noticed.
Thanks for bringing this issue up as I was about to blame the PM for the Piixhack not reporting the voltage and amps.
I had a similar event with Tower. It worked fine on takeoff, but after a while I noticed the battery level hadn't gone down and the nice lady kept repeating the same level and other data.
It did not lose connection, which brings up another thing. When landed and yanking power, Tower did not notify of lost connection.
You have Fence failsafe, check your fence config, perhaps
Cala, nice investigation.
As some others mention, when in RTL, the pilot's input is ignored except for the final landing phase when (if LAND_REPOSITION=1) the pilot can adjust the horizontal position.
If you hit the fence you should be able to re-take control by changing the flight mode switch and the fence logic won't kick in again for at least 10seconds and 20m (i.e. the fence is temporarily expanded by 20m). This should give the pilot time to recover without the fence logic jumping in again and again and yanking away control.
Randy, if I am not mistaken, I think I was able to control yaw during RTL.... Or am wrong, the last time I used RTL as a "passwnger" was a long rime ago...
-
89
-
90
-
91
-
92
-
93
of 449 Next