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
Thanks Leonard!
We "monocopter" enthusiasts are quite in the minority, had to ask here amongst the multidudes...
Actually, it's an asymmetric bicopter...;>)
Thanks! Will do. It is set at 10 now (default). I'll give 40 a try and report back. I'm not sure what use a log file would be but I've attached it-- just my last run tonight (just tinkering in the yard in the dark), You can see here where I was stationary in alt hold applying 100% yaw (it does several 360's), I let go of the stick and it looks like it did another 360 before resting. (well, okay... log is to large to attach, will see if I can link it from work tomorrow)
yaw example 2.png
Hi Michael,
If you have done nothing else you may just need to increase the ATC_yaw_accel parameter.
No joy. (moved from 10[default] to 40 and still very sluggish and will complete a 360° or so before resting when holding full yaw (same as before). Just took it up for a quick flight to test and keep the log short. One thing I did try was to increase the ACRO_YAW_P from 4.5 to 5.5 but nothing noticeable. The current Yaw PID's are very close to the autotune values. I've just bumped them up a bit (Stab P from 3.78 to 4, P .15 to .17, etc...and the tiny bit of D had no effect either, etc... etc...)
2015-06-12 20-42-14.log
Hi Michael,
ATC_ACCEL_Y_MAX is currently set to 9000. Increase it to 27000 and see how you go.
I settled on ATC_ACCEL_Y_MAX at 36000 for my small DIY tricopter.
Possible "bug".
Problem: After running Autotune (Y axis only), the ATC_ACCEL_Y_MAX resets back to 9000. I was able to repeat the event on each of three tries. It only happens after Autotune.
in my system after initial autotune this parameter was set to 15000, after new autotune with lighter battery it got to 17000.
what is the logic behind it and what is the safe vaue range to set it to?
atc_accel_p_max is 91837, atc_accel_r_max is 132275 - so this 17352 value indeed seems a bit out of place.
or is it?
Awesome. That did it! I may bump it up a bit, but 27000 works very very very well. Thanks!!
Hi Guys. Can anyone elaborate on the autotune Aggressiveness parameter? I can´t fully understand what it would do if I set it to 0.5 (like I did by mistake) instead of 0.05. Are there any recomendations regarding frame size/type? I tried the full setting guide but there is no help there.
Thanks!
Hi Bernardo,
0.05 (5%) represents the amount the copter will overshoot when trying to achieve a rol/pitch/yaw rate. The larger this number the more aggressive the response and the closer the copter will come to being unstable. I currently let the number go from 0.05 to 0.1 but will increase that to 0.2 for experimentation purposes. Very few copters need more than 0.1 and the lower you can go the better the tune tends to be for control. The higher numbers tend to be better for rejecting external disturbances.
-
350
-
351
-
352
-
353
-
354
of 449 Next