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
Uninstall Mission Planner, restart your computer and install a fresh copy from the website.
http://ardupilot.com/downloads/?did=82
i did already, but it did'nt work - so same message
Did you try to reformat (FAT32) the SD card.
It seems to me that MP is having trouble detecting your FC.
no, ill try that today
I just installed 3.3rc5 on my s900's pixhawk and ran an autotune without the gimbal attached.
Autotune ran fine, but the PIDs it gave me feel far too twitchy. After autotune was complete, giving it a push of roll input, it wobbled pretty badly returning to level, so I just landed. Trying to take off again was sketchy so I reverted to the old ones.
my 3.2.1 manually tuned pids, vs the 3.3-rc5 autotune ones are below.
stab roll p 4.5 / 8.8
stab pitch p 4.5 / 10.2
stab yaw p 4.5/ 4.4
rate roll p 0.2 / 0.28
rate roll i 0.18 / 0.28
rate roll d 0.01 / 0.014
rate pitch p 0.2 / 0.3
rate pitch i 0.18 / 0.3
rate pitch d 0.01 / 0.17
rate yaw p 0.25 / 0.84
rate yaw i 0.02 / 0.084
Is it possible to just lower the stab p and keep the sharp rate PIDs, or does the sharp oscillation suggest they are just too high themselves?
I have a log available if it would help figure this out.
Cheers
I've just given it a manual tune now and it looks to fly best (by throwing it around in alt hold and getting it to recover quickly without overshoot with rate p of 0.18 and d of 0.13, and stab p of 5.
The autotuned yaw feels very locked in though so I've kept that as is.
Will put the gimbal on now and see if it still flies smoothly.
Thanks for looking. Here's the log here.
Thanks, so I'll set those params, and run autotune again with AGGR set to 0.05 once the weather allows. It's got an effective 16" disk, so I'll try an expo of 0.75.
When you say the ATC_ACCEL params aren't loaded, is this something to do with how I used the switch, or just something that should have happened that the next RC will fix? In that run I let it finish autotune, then flipped the ch8 switch off and on again then landed and disarmed.
Just redid the autotune withAGGR at 0.05 and the THST params set as above, but the autotune still gave me PIDs that caused overshoot on corrections to manual roll/pitch input while in alt hold/stab. They are slightly lower than the original ones though. The autotuned yaw PIDs from this recent run (rate p 0.33) don't feel as good as the original autotune (rate p 0.85).
I did this autotune without the gimbal, but with a ballast on front of equal weight to it. The first autotune was done with no gimbal or weight, but I repositioned the battery to be centered on the frame. The problem I'm trying to solve is the whole gimbal being shaken when it is attached. Have tried several gimbals. I'm pretty sure this can be solved with pixhawk PIDs. The previous manually tuned PIDs (rate p 0.18/rate d 0.14) ended up still shaking the gimbal.
There is some manual flight in alt hold with the tuned PIDs at the end of the log.
Log here
Hi Glenn,
If you don't touch the switch after autotune is finished, land and disarm, then switch the autotune switch back to the off position. Then you can take off with the new pids and ATC parameters. Just be very carful as you first take off.
Thanks!!
Hi Glenn,
I have spent a long time looking over your autotune and I can't see anything wrong the the tune itself.
It does look like you need to set your
MOT_THST_BAT_MAX,
MOT_THST_BAT_MIN,
MOT_THST_EXPO.
Expo is 0.65 for 10" props 0.7 for 12" props and 0.8 for 18" props.
However, I don't think this was the problem. I can see that the ATC_ACCEL parameters arn't loaded when you switch using the autotune switch so that may have caused your problem.
You may also like to try Autotune AGGR set to 0.05, especially if this is a larger copter.
I will fix the issue I found in Autotune and it should be there for the next release candidate.
Thanks for your help and feedback!!
-
445
-
446
-
447
-
448
-
449
of 558 Next