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
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ArduCopter-v2(tricopter).px4
many thanks!!
thanks. I could downgrade straight from rc6 without a problem
I was flying for a few weeks with rc5 with not surprises so will continue to do so until my crash is well understood.
After 2x15mins problem free flying I crashed with the third battery - some damage; log refers to some sort of gps/ekf problem.
What I saw the roll became absolutely uncontrollable the quad sided did not react to throttle input (hills so tried to gain altitude and do some sort of controlled landing) and crashed (probably land mode due to EKF failsafe). Meanwhile pitch and yaw as absolutely stable/ok - so hard to believe there was a compass or GPS problem. There is nor obvious mechanical problem visible. Furthermore the quad crashed in AltHold/Land mode those are not using gps/compass so I would expect a soft/soft-crash landing not like it happened: hit the ground hard and on the side.
Place is an open field with no known interference, I was flying alone - I flew there many times with no problem so far.
(1) Anyone can help please with some hints what could happen?
(2) why did I have hard and uncontrollable quad in non-GPS/Compass flight mode if it is a compass/gps problem...
(3) EKF failsafe - can I switch it off or change to ALTHold - with low altitude (Lidar altitude reading in the log) like this and unpredictable behaviour actually I did not have the time to take over control quickly enough (also, unfortunately telemetry was not connected to my tablet to hear voice announcements) so auto land is a disaster.
This is the nightmare scenario for me - uncontrollable quad at low altitude.
2015-06-27 15-08-16.log
Hi Guys, thanks for rc6 update.
Autotune seems working pretty good, PID's are about 5%-15% higher. (don't know if this is related)
ATC RP almost same and ATC Y about 25% higher. ATC Y now is there were i set it manually before.
i was having some trouble leveling while first takeoff without GPS. As GPS was gained all went fine.
After updating my APM Planner, I was able to read logs, and found the source of my red/yellow blinking light at launch. It's EKF Variance (err code 16, 2). I get the warning flash for about the first 20 seconds of flight, then it clears. During this time, the copter appears to fly fine in AltHold and Stabilize, but won't switch to a GPS-assisted mode (by design, I know). EKF_CHECK_THRESH is currently 0.8, should I adjust it to something higher? I'm just not sure how to read the log and find out what's causing the EKF variance.
blinking.log.zip
Kelly,
Thanks for the report. I've asked PaulR if he can have a look...
Hi Randy
Latest Beta of MP 1.3.30 and just went to Hexa 3.3 RC6
I believe that the serial port protocol descriptions and options could use a better description :)
I assume that with the Storm32 we use which protocol on the connected Serial ? 7? or 1 ?
Luis,
Thanks for that. I've updated the wiki and the parameter descriptions. If you do the Ctrl-F paramgen thing you should see the new option "8" which allows using the SToRM32 serial protocol. Alternatively the MAVLink protocol can be used by leaving the SERIAL2_PROTOCOL as "1".
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