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 have Lidar Lite installed on AC3.3 and I am very pleased how it keeps constant altitude over the terrain. So my wish would be to make sensitivity for altitude change adjustable (right now it could be more sensitive to react faster) and make it work in Auto mode, too
I don't think I would need Google maps data or so for terrain follow.
In my situation I fly over water. I'm not sure but I don't think Lidar works so well of rough wavy water. In any event it would be nice if we had the option to use the terrain data from google if for no other reason it means one less expense and or something to get broken. Not that I ever broke or lost anything I fly :P Also as mentioned above if there is a rather abrupt altitude change,, say a cliff where land starts,, by the time the Lidar saw that it would be too late.
It would be great if it could see ahead so to speak so that if there was an abrupt vertical change in the terrain it could regonise the issue and gain altitude a head of time based on it's trajectory.
hey, I am using a PX4v1 variance board with only EXTERNAL compass present and when moving copter in roll or pitch axis I get "compass variance error". I've triple checked my compass orientation and calibration values are all sub 50. Could one of the devs advise when "error compass variance" can be triggered besides when two compasses do not agree?
Thank you!
Artem,
The compass variance should only happen when the compass doesn't agree with the other movement of the copter. So if it was oriented incorrectly that would certainly appear. It can also happen if there's interference from the motors or if there's metal on the frame that warps the magnetic field.
By the way, the "compass variance" is not actually triggered by having internal and external compasses that disagree. That situation produces the very similar "inconsistent compass" pre-arm message.
O, ok, thank you Randy for responce. So if compass movement doesn't agree with lets say acc data this message will be triggered as well, correct?
What transmitter is that? Are the voice/speakers stock?
Which transmitter? You mean Marco's in the video at the top of the page?
If so, that's a Taranis X9D. Can't tell if it's the + or not but the + version is the only one that's on sale now as far as I know. https://alofthobbies.com/frsky-taranis-plus-transmitter.html
And yes, the speakers are built in to the radio though you can customize them and you can customize the voice and what it says when you flip switches, etc.
-Mike
Thanks for the clarification. Wasn't sure if George-Kelley was advertising a different radio, my apologies.
It's surprising that it isn't that expensive?
My radio of choice previous was an Aurora 9 which was expensive and limited in functionality as well.
Thanks for the information.
16 channels haha wow
I know your pain. :) I fly Futaba most of the time. The nice thing about these less expensive yet packed with features Tx's that are coming out is that it's pushing the big name players (Aurora, Spektrum, Futaba, etc.) to reconsider their offerings and to pay attention to what the consumers feel is important.
-Mike
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