Copter-3.3 beta testing

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

- - Robin Wessel > Geert Pirens April 30, 2015 at 5:40pm
    
    Thanks for the tip!
    
    Found the post on page 29 and got it to work. Required a reboot but working fine just like before.
    
    robin
    - Developer
      
      Randy > Robin Wessel April 30, 2015 at 6:14pm
      
      Robin,
      
      Great. I've updated Note #2 in the main part of the discussion to add the bit about the board requiring a reboot after changing the MOUNT_TYPE. This seems to be the #1 issue people bump into with AC3.3 so we need to find a way to default that parameter to "1" if the user has been using a gimbal previously.
Mike Dixon April 30, 2015 at 4:57am

Paul / Zhang,

Thank you for the really helpful information - when it arrives I will give it a go!

Cheers, MIke
- zhang xu > Mike Dixon May 2, 2015 at 8:44am
  
  It works!
  
  https://youtu.be/ckY_XuoxMEU
  
  Several keys:
  
  1. orientation of the Flow module has been changed to X for forward(used to be left)
  
  2. there is a start-up problem with their communication, so always power the pixhawk up with USB cable, and then connect the LiPo.
  
  3. Do not switch from STAB into LOITER in the air, IT FLIPS!
  
  Just take off in LOITER!
  
  Hope it could be of help.
  
  zhang
  - Leon C > zhang xu October 7, 2015 at 7:25pm
    
    Hi Zhang,
    
    I changed EKF_GPS_TYPE to 3, but there was the message “Pre-arm: need 3D Fix” while arming in Loiter mode. Could you attach your param list of craft?
    
    Thanks a lot.
    
    leo
  - Rolf_G > zhang xu June 30, 2015 at 11:10am
    
    Is switching to loiter without Flips in rc-7 now possible ?
  - Andrei > zhang xu May 2, 2015 at 10:24am
    
    Do not switch from STAB into LOITER in the air, IT FLIPS!
    
    What do you mean? With Flow module, or always with 3.3?
    - zhang xu > Andrei May 2, 2015 at 5:55pm
      
      It's a issue with FLOW is enable and EKF_GPS_TYPE set to 3, Paul said it will be fixed in the next release.
zhang xu April 29, 2015 at 8:50pm

Really thanks so much for your reply,

I think the key to my problem is the range finder, I'll mount a separated sonar to my pixhawk as soon as possible.
I have spent the whole last two days in this, watching your youtube clips and github codes. Without your kind reply, I could not even think about this aspect.

THANKS for your contribution!

-Zhang
- Mike Dixon > zhang xu April 29, 2015 at 11:53pm
  
  Hi Paul,
  
  Do you think the onboard sonar sensor will ever be supported? I just wondered if 3DR should be informed as they are selling them still. Funnily enough the eBay far east version doesn't come with the sensor and is a fair bit cheaper.
  
  Hopefully I will be able to do some testing this weekend if they arrive in time! Thank for all the handwork, I think OF could be a real advantage. Cheers!

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Copter-3.3 beta testing

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