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!

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        • Hi I us the gimble channel and rc 7 to make my landing gear go up and down
  • Hello .. got a bit of problem after changing one of my ESC that burnd out .. i alsow updated to APM:copter v3.32-rc2 and having some problems that im not shore how to fix.  the copter feels werry unstabel and hard to keep altitude . i have tested to change  both trottel midhold.. and manual tune it.. always making it wors so i hade to go back to standard . auto tune is a no go sins i cant get althold to work agen.. i some times get BAD ACCEL HEALTH. after i upgraded to this verson .. it might have somthing to do with im using a clone im not shore..

    .. maybe some one could have a look on my log.

    frame is H4 quad  670mm

    3108 700kv sunnysky  with 12 inch carbon props

    multistar 4s 8800mAh batt.

    Pixhawk clone  ..

    2015-12-11 15-51-53 5.bin
    • Did you calibrated your ESC's after adding a new one?

      It could be that the new ESC is out of sync with the others.

      That would be the first thing I would do after changing one of the ESC's.

      • thanx Igor .. yes  i did calibrate the ESCs..

        I have bin looking around here on the forum now for any thing simulare.. starting to belive its the cold wether.

        but i dont know sins i have not hade it up flying good before the cold wether started here,

        maybe some one could confirm  that if i disable the 2 IMU it would  be better ? no when this cold wheter fenomen for pixhawn happens dose the craft become unstabile?

  • Hi,

    I am no longer able to connect to my Pixhawk via Bluetooth using Mission Planner since the 3.3.2 update.

    I am using a HC-06 Bluetooth module and it is configured properly. The "Reset APM on USB connect" is unchecked.

    The bluetooth connection works using Tower Android app.

    I am running the latest Mission Planner.

    I have set the baudrates on my PC bluetooth serial port correctly to 57600.

    What could be the problem? 

    • My Bluetooth connection also doesn't work any more after updating Mission Planner 1.3.32 to 1.3.33.

      Worked again after downgrade to Mission Planner 1.3.32.

      I'm using F2M03GXA bluetooth module.

      I somebody could confirm I would open a ticket in Guthub.

      • confirmed. First thought is was my bluetooth driver, but as you are saying, version 1.3.32 works!

      • I did some debugging on 1.3.33 code.
        Seems that when mission planner try to open serial port, it runs some fix port routine and also tries to write data to the socket. I assume that it does make sense for some scenarios but for bluetooth it just kill the po port. Commenting this lines do open the Bluetooth with no issues.
    • It's worth checking the other serial settings on that port - I had my serial settings reset by a recent firmware upgrade (I think).

      • ok, I think it's related to my windows bluetooth driver..

This reply was deleted.


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Aug 25