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
When I flash it back to 3.2.1, the GPS works. MP shows "3D Fix" again.
Hi Craig,
More tests shows that this regression appeared since this build :
http://firmware.diydrones.com/Copter/2015-07/2015-07-20-01:07/
This corresponds to the commit the same day:
https://github.com/diydrones/ardupilot/commits/Copter-3.3?page=16
I see there were 2 changes regarding to NMEA GPS.
Hope this helps,
These changes introduced a delay (negative or positive) between _last_GPRMC_ms and state.last_gps_time_ms. This delay depends on the baud rate, and also probable depends on the order of the messages.
Hello every one,
after autotune with aggressive 0,05 i had the following values. only stab p for roll and pitch was too low. i raised it. the copter flies well, in windy days too. but there´s a big problem with my ccd cam. it wobbles strongly and it´s no rolling shutter. my question is, if it is a mechanical problem with cam or a pid problem.
and the problem is taken the most affect only at flying against the wind. my vibrations aren´t bad.if i compare pitch or roll with yaw i see at pitch and roll many peaks.yaw is very clean and i love it. could the peaks be the reason of my problem?
the frame is a h4680 with 4s, tiger mt2216 900kv and graupner eprops 11x5.
attached are a picture of pids, a picture of pitch and a log.
i hope, someone can help me.
2015-11-12 16-20-24.bin
Hi Speedy,
Your vibrations are pretty high. Large props into the wind can vibrate a fair amount especially if the frame is flexible. Your tune doesn't look like it is causing the problem though.
I think arducopter has still mega problems with alien type frames. I make a new pitch tune and test or i will reduce p. I don't understand the peaks. Normall it should so clean like yaw.perhaps randy or leonhard thall has an idea. And stab p should be higher.
Hulk: Try to repeat pitch autotune or try to reduce it manually, thats in part your wobbles ccd and other problem is that if your camera wobbles probably isn't ccd, it's cmos, are you shure?
Yes, a wonderfull weekend here ;) .....but I'm not have with me my copter :(
No one an advise ? Or because it´s weekend?
If it's an Alien 680 frame, I have one too and am having problems getting it tuned. From what I've heard many do. Everything is tight and COG good. AT was done with AGGR at .07. The copter is not stable after 2 AT's.
My PID's are quite different than yours. I'm starting to think I need to put some good CF props on this bird. With the cheap Gemfan CF VIBE's were lower, but over 500g thrust I don't use them. Currently it has APC MR 13x5.5 and it just doesn't seem to be as responsive plus does wobble.
I've never had a quad with these goofy PID's.
This is also a Alien 680 tuned at an aggr of .05. The tune is is rock solid. This is an X8 though with Sunny Sky 4108s 14 480kv motors and 15" propellers running 10ah4s packs.
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