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
i have a LIDAR and i must lift of the Copter for Prearm check to 50cm and then down. i´m not sure thats the same with a Sonar. i think so.
I had read that a few days ago so it's the first thing I tried but to no avail. Hopefully one of the developers can let us know what the preflight check looks for so we know what to do about it, or better yet, fix the check so it works properly.
I was just getting ready to go out and try this with the sonar removed from the arming check but there is no indication in mission planner what code to use. I re-enabled the sonar anyway and now I can get the check to clear by lifting the quad up. I may have tried this before after I had pressed the safety switch... I'll check that out later. In any case, at least I can get the sonar to work.
ARMING_CHECK -33 , skip the Sonar/Rangefinder Check
Thank you Pit. What I discovered is the sonar is working and I can clear the arming check by lifting the quad provided that I am on a hard surface (not grass). I don't know whether it's the sonar causing problems or that the check doesn't allow enough variation in the signal for uneven surfaces.
hi! will the telemetry mod for X8R and taranis work with the latest firmware? I am planning to do the mod on my setup so that the telemetry data will be pass to the x8r receiver via smart port and Teensy board. but I am concerned if this will still work with the AC3.3rc4 or higher.. thanks again my friends!
This is what I use https://drive.google.com/folderview?id=0B-B7PQy0joGrMjEyQWg1LXpoN28...
thanks my friend!
I'm using rc4 with x8r,teensy lua script on mine and everything works fine.
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