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
Hey Rainer,
After watching the video you posted, I came a cross the below one.
Many people saying it is fake. I don't know why would someone go through all hassles to make a fake video. These things happening even with super expensive systems because those expensive systems aren't the best. They are just expensive!..
https://www.youtube.com/watch?v=87qI0QcbPBw
Developers, please, please ignore this ridiculous request. The rapid and bold development made over such short timescales is nothing short of amazing and the stability is incredible given the complexity involved and potential for regressions and bugs.
There is a perfectly good stable branch/release for those that want to use stable code, used by thousands out there with excellent results.
Thank you!
So ridiculous it's been done many times apparently. lol
It is nice that this forum is ussually polite and courteous to all views. Much more so than most. I think we should all try and keep it that way.
Did you get your Taranis Mavlink sorted out? I sent another reply but it was buried in the thread. I have my Serial2 protocol set to 2 instead of 3 which makes no sense as 2 is not even listed in the wiki listing. Can't explain it but it works on all of my aircraft. Let me know how you come out on this, sounds like we are in a similar place.
Cheers,
RB
I tried that and it did start to give me data but then it keeps giving me strange audibles that make no sense. I'm using a script from droneshop must be a glitch with that. But thanks for the tip! That is odd it works for you but so long as it does who cares :] I ended up going back to 3.2 for now and for some reason I no longer have the DCM bad heading problem!! Who knows why but I'll take it!
Emin, we will never stop advancing the code. If you don't like testing, then don't test the RC's and stick with the stable releases.
Pfffff...!
My thoughts exactly. Couldn't have said it better. I GREATLY appreciate all the efforts from the devs and testers!!! I don't want to criticize... But it would be nice to just fly without issues. I keep getting DCM bad heading in 3.2. I guess 3.3 fixed this but then it seems there's new issues? So I'm not sure what to do. It's not like I have a strange set up it's a standard quad gps and mag on a mast did compass mot 3 times, reinstalled FW, re-did calibrations.. Boy I have done all that a lot :[ It does fly great though. very smooth. poshold is excellent!! But my pulse rate goes up when I hear DCM bad heading then Landing!!! Not complaining though.. just saying ....
re- third compass +1 !!! I think my DCM bad heading would go away if I had the option to completely ignore the internal mag. Also it would be fantastic if there were two I2C ports so you don't need that splitter thus triples your wires and potential points of failure.
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