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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The log where the pictures are from is from your first post. Perhaps you can post the crash log again? I can´t download the log from the second post.

Hi Dave,

I am looking at the correct log but it doesn't show any yaw spinning. I am pretty sure you have uploaded the wrong log.

The log from the first post (http://diydrones.com/xn/detail/705844:Comment:2137266) is definitely the crash log, as you can also see at the errors, it even detected the crash in the end!

You are right, the download of the OK-file doesn't work. Will upload that again when I come home.

Not being able to see the spinning in the att.yaw log data also confuses me hard.

Has to be an error in that sensor then doesn't it?

Also what do the big jumps in that data mean? The heading can't jump that fast?

Hi Dave,

Those errors don't mean this is your crash log. I am 99.9% sure (I am never 100% sure) you have the wrong log. Nothing matches your video.

I agree with you but regarding the first part of your answer, I thought the following:

If there were sync issues, you can't see them in the log data. The ESC just fails and the motor stops, or am I wrong?

Will check the IMU when I come home. Thanks!

will double check, when I come home, thanks.

Hi Dave,

sync issues will be clearly seen in your RCOUT log if you had the correct log. You will see one of your outputs pegged to maximum while the others struggle to keep control. You will also see the yaw log go nuts as it spins.

Usually with one motor out of sync the copter will drop on that side and the FC will try to correct attitude by increasing RC_Out of that motor. There is nothing like that in your log.

thanks guys.

yeah, you can just see the spinning when you click "Show Map":

I had two crashes when a prop tip broke off it looked sort of like that. That was the last time I used cheap props. 

Hello Richard,

all my props are fine (just one slight cut-in at one prop which definitely came from the crash) even after the 60m drop. I was really lucky.

I use Aeronaut CamCarbon light 13x6 props.

Here is a pic I made after the crash.

Yea I’d say your quad looks damn good for a 60M crash! This is probably unrelated but one thing I had happen once was somehow two of my arms got twisted and as luck had it it was two opposing arms hence the motors spin the same direction. What happened then was it could not compensate for the yaw effect that caused so even with full right yaw stick it continued to yaw left. However it didn’t cause a crash and of course it was evident the moment I took off. In my case the aluminum arms get bent slightly in travel. I was amazed at how little it took to create that much of an issue. Just looking at yours I wonder if two of the motor mounts twisted on those round arms? But of course the log would show it trying to compensate with full yaw opposite it's actual yawing. 

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