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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Sounds like it either has the wrong antenna installed or it is only reading the GPS sats and not GPS+Glonass

But yah other than that the logs look pretty good. Vibs are decent. Voltage is decent.

Thanks guys for the help on this.

Any website with a listing of the meanings behind the ublox uncenter parameters? I successfully connect to uncenter on this gps but I remember trying to upload that config file to a m8n gps last year and it bricked it and ended up buying a new one (current one). Still have the old gps but it didn't seem to respond after uploading the file.

That's one thing I REALLY like about Tower is if you select a param it actually tells you things about it. My GCS on my computer running APM P2 often just tells you you can select 0-10 or something like that for flight modes. So unless you have that memorized you don't know what to select. 

i suspect all whitespy units are unsafe. 45mm gps unit ate battery i soldered in in fall over winter, and its gps is producing highly erratic data that causes vehicle to wander around. it is not charging battery and i am not going to solder in a replacement anymore. reading of sats also dropped from 18-20 down to 8-11, it correlates to responses from some other people. smaller 35mm unit seems to be getting more stable readings - vehicle is not hunting around that much with it as gps source but it is also reading 12-14 sats top, a m8n unit. 

Didnt find correct place to post log related to 3.4-rc1 

I am having serious issues with my copter, in the way that it does fly for a short period and then just descends abruptly hitting the ground. As soon as I see it descending (usually i'm flying at 2~3m above ground because I'm trying to find the cause of this problem) I switch to stabilize and cut throttle to avoid major damage. 

At first I thought this is was a temperature related issue, but now I dont think so.

I saw a log that contained barometer error in the exact moment the temperature rised to 70º degree inside the frame (it's an waterproof one) but now logs dont even show any error, the copter just falls to the ground...

Anyone willing to help me figure this out ?


Copter 3.4 beta testing should be discussed in the new forum: http://discuss.ardupilot.org/c/arducopter/copter34

thank you :)

Test ......................
Test ......................
Test ......................

Yesterday my Hex (with PixHawk fc on AC V3.3.3) crashed.
Luckily, there was not much damage. One prop and I lost one of the dampening balls of my gimbal.
The hex was in POS_HOLD and I was decending slowly by lowering my throttle stick.
When it hit the ground geltly, I switched to Stablyze (throttle stick in lowest position)
Then after a split of a second the motor on the right (#1) went full speed and flipped the Hex upside down, breaking a prop and throwing the gimbal away.
When I picked up the hex, one motor (the one that flipped the hex) was still running rather fast.
After a second or so the motor stopped. I guess because the PixHawk disarmed the system.

Can somebody look at my log please. Perhaps he can find the cause of my crash.


Yes, can see that you switch to stabilize mode and that all motors were shutdown.  Shortly there after I can see a huge spike in current indicating something started up again.  Looks like possibly an ESC hickup.

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