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 all 

and thank you for great job in 3.3.2

I connected the signal wire to Aux1 (pixhwak) from tarot retract and the ground and 5v to voltage regulator. the result is in the follow video



  I started a discussion on RCG about coaxial efficiency per eCalc authors. I tried various prop combinations and found the most stable to date was using Xoar 15x5 top and Xoar 14x7 bottom, tried different timings as well which did make a difference.

As you can see, I had the same problem as you:

Below is with Xoar 15x5 top and Xoar 14x7 bottom. I bought some 14x8 but broke one of the blades and never reordered. I now have genuine T-Motor 15x5.5 top/bottom and it is not as stable; haven't flown it for quite some time but want to put the Xoar 14x7/14x8 on the bottom. One thing I'll say is the cheap props flex way too much and cause oscillations. 

I also believe the axial distance between the props changes things as well, and with much confidence conclude no two Y6's are the same (had three of them), nor does one size fit all. I'd like to try BLHeli firmware on the HW Xrotor ESC's on this copter. 

Xoar 15x5 top Xoar 14x7 bottom. Very stable and reduced VRS substantially.

Link to RCG discussion:


Link to eCalc essay:


Hi Leonard,

Does this give you what you need?



I had 2 smooth fligths with 3.3.2 in Stab/altHold/PosHold, all ekf in green. It was testing flight for our last quadcopter, and we reach our new flight time record: 45min without payload. Behaviour was good even with throttle for hovering as low as 33%, and full throttle in Stab mode was scary, 2.5kg racer is not usual :)
Next big test is tuning same large quad with regenerative breaking activated on 6S, I guess I will have to lower PIDs...

Nothing happens.

That's right. In my case nothing happens.

I'm using X-Cam X6 original landing Gear. By KongKopter.

I can not obtain the same result.

Of course if I switch the CH7 I can open and close the landing gear at command.
This is not a problem.

The real problem is that when I switch on the PixHawk, PixHawk command the Landing Gear to Open.

So PixHawk have an High PWM signal at the startup.
Is this possibile?

Issue : disabling arming checks parameter does not function.

Just installed 3.3.2 on a quadcopter, pixhawk.

The arming_check parameter is without effect, whichever value is set.

I can't produce a log since I can't even arm...

Anyoone seen this too ?

I'm using 3.2.1 on APM2.6 and having an annoying alt-hold problem. It's a medium quad and hovers at 50% but even though I have throttle mid in the parameters set to 500 it just wants to descend with any mode like loiter, rtl, alt-hold. The only way to recover is to switch to stable. Is there some parameter that I could have changed by mistake? This copter was normally solid but since I fly in stable 99% of the time, I didn't notice when this started. Normally it held alt and position really well. GPS is on mast. Thanks! http://diydrones.com/forum/topics/3-2-1-and-apm2-6-not-holding-alti...

Supposing that you know what you do when desactivating checks: you need to disactivate GeoFence to get rid of the GPS checks.

All pre arm check boxes are unticked in the mission planner screen planned for configuring the arming checks. Still no joy. Could it be a mission planner issue?

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