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 for your support (and all others).
Should batmin be lower then 14v?
What does it mean?
I test in next days. Actually it's too much wind.
And the function is similar like the method of the old variant of esc calib?
The reason is, i want use thethe much better autotune values on 3.2.1 till 3.3 is stable. I have fear because of fly away or crash.
And another questions of log. Which bitmask should i use. The logs actually are so big.
Thanks
Hi Speedy and Paul,
The MOT_XXXXX parameters i am talking about here define the throttle curve to keep the trust linear. The code then adjusts for throttle position, the dead band at the top of the throttle range, and the battery voltage. The throttle/thrust curve is applied to each motor.
If set right this stops high throttle oscillations and reduces the decent wobbles. It also ensures that auto-tune done at the end of the battery doesn't produce a tune that is too high.
And should batmin at 4s lower than 14V?
Hi Paul and Speedy,
The bat min is just there to define the maximum increase in gain you can have. So it doesn't have the be lowest value it can reach. I use 4.2 x cell count for max and 3.5 x cell count for min.
For good quality stiff props (mainly at the smaller diameters) I use
% 0.65 is for 5" props
% 0.65 is for 6" props (I think the low numbers come from flexing props and I use HQ and they are stiffer than normal)
% 0.675 is for 10" props
% 0.725 is for 11" props
% 0.75 is for 12" props
% 0.75 for 16" props
% 0.75 for 18" props
for Mot expo.
Hello leonardthall,
yesterday we had a morning without wind. so i made a new autotune test with the recommened throttle curve. i think yaw tuning is perfect. it´s so smooth. i like it really.
but in pitch and roll i´m not so sure. the feeling is good, but i think, theres wobble at higher speed, too. so i´m not sure, if i have mechanical problems or is there a generally pid proplem.
the different to pids without throttle curve are little bit higher rate p pitch and lower (half) stab p pitch.
attached in dropbox are 3 logs...autotune roll/pitch, autotune yaw, and a normal flight.
https://www.dropbox.com/s/empifgouc5xr2gs/normal%20flight.bin?dl=0
https://www.dropbox.com/s/odsk0tmce1p8k6l/roll%20pitch%20autotune.b...
https://www.dropbox.com/s/3p8yq8gjx5xe8yq/yaw%20autotune.bin?dl=0
edit: at autotune i had sometimes fear. three or four times it looked like he would fall down, almost flip...but then in was stable again and autotune finsihed correctly.
PIDS.jpg
HI, I just noted on both my systems
MOT_THST_BAT_MAX and MOT_THST_BAT_MIN are set to 0.
other 2 are
MOT_THST_EXPO,0.5
MOT_THST_MAX,0.95
And both systems fly just fine.
What is the rule of thumb here, should those 2 first ones always be set manually to correct voltage levels? If I start from 16.8 and go down to 13.5v - should that be used?
How prop size affects those parameters?
This gives you a good idea.
% 0.65 is for 5" props
% 0.65 is for 6" props (I think the low numbers come from flexing props and I use HQ and they are stiffer than normal)
% 0.675 is for 10" props
% 0.725 is for 11" props
% 0.75 is for 12" props
% 0.75 for 16" props
% 0.75 for 18" props
...a copy of my reply to Randy:
Hi Randy,
In X2, the VBUS_VALID is not connected to the PC0 as we don't have 4417.
As the USB VBUS signal is connected to PA9 of the STM32F427VIT6, there are two reasons the MCU detects it is still present:
1. Either PC0 is floating ...without any pullup/pulldown programmed and the firmware doesn't care of PA9 at all, or
2. the PA9 is without pulldown programmed and the VBUS 100nF capacitor is not discahged and the system reads it as 1.
If I understand the situation right, adding a pulldown to PC0 and PA9 + some code to check the VBUS status could solve the problem.
Best regards
Nick
Today I had my first crash where I think it was not my fault.
I changed my Transmitter from Jeti to Taranis. The first short flight was ok but the Nick was reversed. After reversing the Nick I started to the second Flight as suddenly the Copter went to the right and crashed.
I´m not 100% sure if it is a failure from the Taranis or from the IMU. Please can you have a look at the Log?
I looked at the Log and saw the the desRoll and roll is different but I´m not familiar with reading logs.
Thanks a lot André
2015-07-03 16-59-50.bin
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