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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Hi Paul, i'm currently not up to date concerning all the new features, the development really brings this project to news levels. But i'm with you, the copter is very well balanced and all components have been selected and tested over years to become reliable. Now i'm there were the copter has become reliable. Somewhere in this forums the should be some pictures of the build

hi Randy,

glad to hear from you, thanks for your comment.

I set THR_MIN to 80 which seems to have a good inpact.I thought in the past this value was lower.

To the second point i'll need some more time to do some testing. 

Here is a short overview of todays log for the 2016 version of the "FPV Hexaracer",

(The only thing i was changing from 2015 are the motors from KV1800 to KV 2050)

This thing is crazy fun.

Some Facts :

Peak Current : 180Amps

Peak Climbrate : 23-24m/s

Peak Speed (GPS) : 29-32m/s

Thanks for your help.

Had crazy week, but did some testings today.

Lowered settings and i'm now vibrations are gone.

still need to retune the system to better stabilization.

Hi Fnoop and or Jeremy,

Did you have any result allready on the setting for the Tiny2?

I'm looking everywhere to find something about the wiring from my PixHawk to the Tiny2, but didn't find anything usefull yet :-(.

Hi Randy, is there any progress on the Z1 Tiny2 gimbal to connect to AC?

Maybe Randy or someone can answer this. 3.3 works with the Tarot 2d gimbal, does it also work with the Tarot 3DIII, and if not can this be included in 3.4? What I see of the 3DIII so far, it is a good and inexpensive gimbal. Also I am awaiting "boat mode", is there any projected date for 3.4?

Can we finally have Copter 3.4?will that ever go out?...or is it 3.5 already?

Been trying months off and on to get my quad tuned properly, autotune results create high and violent oscillations that my gimbal cant compete with. Tried lowering in all sorts of combinations the stab and rate pids, with little success, I either go from it feeling like a feather with the littlest bit of wind, or it having violent oscillations but more locked in.

It is a bit over powered, but i've already adjusted the throttle hover, based on what i saw in the logs.

Also after tuning, all motors behave weirdly, if its on a flat surface, all spin up at the same time, but if theres a slight slant eg, its leaning to the left, only motors on the left spin up, right side doesnt move, till I raise the throttle.

I use an alien 680mm frame with 15 props,

ztw 4oa esc's flashed with blheli( had synce issues with simonk)

heres a link to my last flight logs. 


Could you post your PARAM file.

 AUTO-tune should create the right values for your copter. If after autotune it feels too aggressive you need to adjust the RC-feel value. in your case lower quite a bit the RC feel, have another flight and adjust accordingly after that.

Depending on setup you might have to adjust the EXPO-CURVE for throttle but normally this only should be changed if you are way out of the norm range of setups.

We've got the same copters with 15" props, but mine's an X8 with sunny sky 4108s 14 480kv motors.  Tuning maybe similar though.  Give this a try.


Hi Nate,

If your props don't spin up when on a slope then you haven't set your THR_MIN parameter high enough or have not calibrated your ESC's. So I would start from there.

Start with default pids and do a bit of manual tuning to get a copter you can fly in Alt hold that is stable.

If you are getting oscillations after auto tune it is often because your frame is too flexible or you have got a large flexible gimbal installed. If it is the gimble then try an auto tune without the gimbal installed. Then do an Auto Tune and see how it flies without the gimbal installed. If it flies well then attach the gimbal and fly again. If you have oscillations with the gimbal, back off the roll and pitch rate values by the same amount say 0.75 x and fly again. Repeat that until your copter stops oscillating and you have your tune.

If you have a flexible copter or a copter or some other issue, sometimes you have to manually tune.

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