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!

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Any one who read those posts and thought they should short their battery as a pose to shorting the copter leads, likely should not be flying any thing more than a phantom any way.

I do get your point though.

I guess it's better to get the warnings regardless of how the duplicate aux switch came about; was hoping someone else had the same issue.

The FS_THR warning though is more puzzling.  

Until you take off from ground that isn't level. 

I didn't look, but which parameter(s) is changed when clicking on "level"? AHRS_TRIM_X and AHRS_TRIM_Y? 

Mine was x.017 and y.005. Last night was zero wind, so took it up and noticed it was floating to the right and back, and adjusted trims so it would stay put as good as poshold. The trims ended up being x.001 and y-.005.

The copter does not sit perfectly level to gravity (level). To me it assumes you're always level when taking off, but after takeoff the trims cause it to pull depending on what the trims were set at.

Is there a good explanation of this in the Wiki?

loaded AC3.3rc10 on my FY680 hexa, took care of some issues and i like how it flies, very nice release and overall improvements....but in AUTO mode the copter is acting weird when heading into the wind, it oscillates on the pitch axis a lot, didnt do this at all on 3.2.1, just showed up with 3.3, i havent done autotune yet, using the 3.2.1 PID settings....any ideas?

didnt attach log, here it is


I can confirm that Auto Take off with Tower software no longer works.  It switches to Auto mode and says it's flying to waypoint 1 but never leaves the ground and disarms itself.  This worked in 3.3 RC 9.

This is great info! I did not thought about the second autotune right after the first one but is a logical thing.

I know the default PIDs are really conservative (or maybe they are thought for small overpowered copters) but I have a large octa and even though it flies at 30% throttle, I have to almost double the original ones.

Please consider adding this info in the wiki. Many people like me sometimes makes a clean install on a copter and we almost know what values are optimal and we need autotune to polish the numbers.

Thanks for your great work

Did that and still get this...  Maybe it's just my OCD kicking in.

Please excuse my rant, gentlemen.
We are on page 279 of feedback and at release candidate 10 to a new Arducopter release and no end, meaning Release, is in sight.
I must say that I lost track in the meantime.
Is it because the code got completely rewritten and along this screwed up?
Or is the reason that the requirements and expectations are raising from RC to RC?

Randy , by when do you expect a halfway stable baseline across MP, Arducopter, and Tower with existing documentation in the Wiki?

Again, I don't want to discredit all the important discussions going on here, but if it continues like over the past months I am afraid that we rather hit page count 1000 and RC 50 before anything meaningful emerges.

Disclaimer: I am a satisfied user of 3.2.1 and I am desperately waiting for some 3.3 enhancements. And No, I don't have the time to wade through multiple RC's testing.

This is how opensource software works. Multiple developers and the users can choose to be part of the beta testing, or, wait for stable releases.

Complaining about the development cycle time when the developers and community are working very hard to implement many new features and ensure it all works with multiple GCS's, multiple hardware types, multiple sensors, all from different manufacturers is crazy.

If you don't want to help with development or testing and only want a finished product, then don't complain about the time and effort others are putting into it.

RC10 has something changed again in the GPS department I guess as I flew it today and it was very erratic compared to rc9. RC9 was almost ideal, this RC10 flight today was nothing like it.

with rc9 I did not have anymore HDOP 0 or 99.99 issues - with RC10 I had 99.99 stuck HDOP on first GPS unit for 3 power-ups consequently, plus during flight drone was wondering from location to location way more aggressively than with rc9. may be it was a solar storm today, who knows, but I kinda doubt it as with rc9 on same field I always had RTL to return within 50cm from the take off point, and today RTL did a wild hunt for landing spot with a 20m arch going left and right at aggressive angle, so I had to drop drone down to the grass which I did not have to do once since  rc5.

so it was a bit unexpected. Did you by any chance reverted GPS code from RC9 into old from RC8 as Rc8 used to behave like that.  

here is log file. Both GPS units were from 20 to 19 sats with good link from what I can see, overall vehicle attitude was horrible compared to hw RC9 behaved, it was constantly jerking from one position to another, so, I bet something was altered.

If there is a plan how to make it work better I think it has to be a priority now, as it was close to unusable today and for no obvious reason.

here is a link to log file.



Glad you are happy with 3.2.1! Do you know or appreciate why you are so happy with 3.2.1? It's because of this exhaustive process of beta testing. Lets refresh our memories. Work on 3.2 beta began with the first release candidate on May 9, 2014 (actually work began long before that with the dev release), followed by a series of 14 release candidates until its "stable" release sometime in November, 2014. A few quick enhancements and bug fixes were tested and released by February, 2015. So that's May-2014 to February-2015 (10 months) to give you the "stable" release you are so happy with.

Now lets talk about the current beta cycle; The first beta release candidate was presented for beta testing in April of this year and is currently on RC10. By all accounts it's quite good (at least for me).

Patience is the key here. If you don't want to follow the 279 page thread that's OK, but don't complain about how long the process takes to bring you a "stable" product you can use with any degree of confidence.

I agree that these threads can get extremely long. But if they were only filled with on topic discussion they would be much shorter.

Enjoy 3.2.1 while you wait.


Nathaniel ~KD2DEY

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