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
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!
I would suggest changing
INS_GYRO_FILTER to 40
RATE_ROL_FILT_HZ to 40
RATE_PIT_FILT_HZ to 40
Let us know how you go.
hi please find attached log
many thanks stuart
vibration levels abit high but there was a 23mph gust winds
vibration within normal levels on not so windy days
ok thanks yea I reduced WPNAV_SPEED_DN to 4.0m/s only and now it seems to be working ok, it slows down nicely at about 10meters and lands softly....thanks Rob
Nice setup but it looks like you push the quad speed envelop to hard. Theoretical max propeller air speed with lowest measured bat voltage approx. 13.6V with 390kV motors and 5.5 inch prop is approx. 12.3m/s. To be able to move air faster increase voltage or change motors and propellers
Sorry, I need a data flash log.
Thanks for looking into Rob! But when I use prevuious version 3.2 with this coaxial octorotor everything all right (I didn't change battery and didn't calibrate ESC's). I change only version APM. With 3.2 I can control multirotor. With 3.3.1 it flipped over.
I don't see anything in particular wrong. I'd recommend trying a few things:
It depends upon the FS_BATT_ENABLE parameter. Probably best to peek at what that is set to.
Thank you for your help, I'll try to apply the strategy that you proposed.
Just a quick question. What did you mean by the following?
Check to make sure your copter is stable when quickly rolled and pitched to 45 degrees and the stick is let go. Don't hold the stick to build up speed, this test should be done as quickly as possible.
Should the quad withstand when I do the same but speed it up significantly first?