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
Since moving to 3.3-rc7 on my 3DR pixhawk, it appears that my Dataflash logs are somehow corrupted. These are too large to upload but can be seen by following the dropbox link below.
DataFlash Log Example
It does not appear that this has been reported by anyone else, but it has been a unique problem experienced with this beta firmware version. Incidentally, the RCMAP fix works beautifully. Suggestions would be appreciated. I am using the Normal parameter bitmask.
RobC,
The logs seems ok to me. What makes you think it's corrupted?
Hi Randy,
APM 2.0 on my Macbook reports "Unable to prepare query: Table PARM has no column named TimeUS unable to execute statement" and when opened in Mission planner, the data does not seem formatted correctly. Did the format of the logs change in 3.3-rc7? If so, I must have missed that in the change log...what is the best way to open these?
Thanks,
Rob
RobC,
The format of the logs has changed a bit vs AC3.2.1 but I'm able to open the logs with the both mission planner (official and beta) and AP2 on windows. The to-do list for AP2 is here, perhaps raise an issue there.
I'm using APM Planner v2.0.18-rc2.
Thanks for your help.
I've run into a few issues with the new lots. 1st it times out when trying to load them into the Auto Analysis with a popup box that just says "Time" and then another popup saying "Bad Input File" and when trying to load them into Kev's Log Analyzer it also errors saying "Log must be created by an Ardu Vehicle firmware!"
I just tries again with Paul's a few posts down and it now says "Exception of type 'System.OutOfMemory.Exception' was thrown" then "Bad Input File"
This is using MP 1.3.30 and Kev's 2.1.0.9
There is TOO much log it seems for the apps to handle. The PC is x64 with 32gigs of ram so it is not a PC issue.
Same thing happens to me on MP 1.3.35, windows 8.1. When i click auto analysis for a log i get two messages
The type initializer for 'NumpyDotNet.NpyCoreApi' threw an exception
Bad input file
I can't analyse any logs!
Craig,
Ah ok good. At least some of these are "known issues" and all related to the log analysis tools rather than the logs themselves. We have a fix for the Log Analyser but it needs to be tested and then the MP will need to pickup the change. I'm not too familiar with Kev's log analyser tool but I suspect it needs changes as well to deal with AC3.3 log file format changes.
The size of the logs is temporary. We've increased the IMU logging to 400hz for beta testing. For the official release we will reduce that to 50hz and the logs will be 4x ~ 8x smaller (the IMU data is a large percentage of the total log size).
I think we should take this EKF dude behind the wood shed for a little talk.... lol
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