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
Hi Adolfo,
Drop your RC_Feel to 25 and see if that fixes the problem. If it does put your pids back to the autotuned numbers and see how it feels.
Hi Adolfo,
Sorry missed that. Yeh, try the RC Feel and if you want to try autotune again use aggr of 0.05. Your tune looked very nice so I think you can handle a finer tune. We set it to 0.1 so it will handle the higher vibration and flex a lot of frames use. But I personally use 0.05 on most of my frames.
Very glad I saw this post. I was getting very frustrated with my Hoverthings modified FPV-Pro. @ 0.1 I was getting very high numbers all around (Stab R - 13~ Stab P 16~), etc... it was a very angry bee in the air and fpv and gopro vid showed it, gave the effect of a video camera in a paint shaker at anything over hover speed. 0.05 dropped the values tremendously (Stab R - 5.35~ Stab P 5.38~), etc... etc... super smooth now even cruising in 20mph gusts. I may have to call in sick tomorrow to enjoy some fpv flying.
Hi Adolfo
RC feel doesn't have any effect on Autotune. So there is no problems setting it before doing an autotune with aggr set to 0.05.
If the end result still vibrate then you will need to manually adjust the tune by dropping the values until it goes away.
Leonard,
could you please take a look on attached autotune file, seems the PID's are getting really high.
The PID's were pretty high since first autotune, for STB pitch about 15-16.
Recently for maintanance just optimized some things and replaced a motor. After re-run Autotune i'm getting STB Pitch on the max of 18.
Can't add the file which seems to be to big 25mb, how can i upload ?
Dropbox link
https://www.dropbox.com/s/uuu9rnb3hgxylbo/2015-07-05%2021-24-42.zip...
Do you think this is realistic ? I fired 1-2 lipos with it and its flying pretty good.
Hi Pomaroli,
Looks good to me. I can't see anything that makes me worry about it. And if it flies well, that is the acid test. Enjoy!!
Leonard, yes it's pure fun. Next step should be to make pixhawk full 3D, (motor inversion)
Did you see on the beginning there is the EKF error, is this normal or do i do something wrong ?
Shall i try the new parameters ? What do you would recommand for 4s high performance ?
MOT_THST_BAT_MAX
MOT_THST_BAT_MIN
MOT_THST_EXPO
MOT_THST_MAX
Yeh, I saw that.
That is pretty normal.
For 4s I would use
MOT_THST_BAT_MAX 16.8
MOT_THST_BAT_MIN 14
MOT_THST_EXPO 0.65
MOT_THST_MAX 0.95
You will probably need to auto tune again after changing these parameters though.
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