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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Aargh this braindead forum software bit my post in half again..

The best of all I found was the original foam that comes with the pixhawk but it's difficult to find/get other than 3dr (which is not feasible outside of US).  If your X and Y vibes are OK then your motor/prop balance is probably OK so just try different density foam mounts and see if your Z vibes drop - at least below clipping levels as that's what seems to really upset the autopilot.  It's also worth looking to see if you have any bell play in the motors as that shows up with high Z vibes - see if you can find an excellent post on this subject by leonard if you can find it with this ridiculous antiquated forum software. If you'd missed it, I'm not a fan of this forum software.

ps - I wouldn't bother looking into ekf/gps or anything more complex until you've got vibes under control, so fundamental are they to stable level flight.  In hundreds and hundreds of flights with lots of different hardware with this awesome software I've only ever had unreliable behaviour due to vibes.

yeah, this software is a bit strange, I agree.

Okay, maybe I should try Moon Gel pads..

I will look into this and try to improve the z vibes before I fly the next time, thanks!

Thanks for your answer.

So what to do now to get the data for the FFT? Also, I think this would need a much higher sampling rate, doesn't it? I think its 50Hz standard, which is too low for high frequency vibes.

@Dave, an intelligent FFT analysis algorithm can self match sampling rate since samples can be approximated by continuous sinus/cosinus functions Infrasonic vibrations can be generated within very small cavities due to Helmholtz resonance (Holmholtz resonator)

longer reply has been already cut three times

just email me to get full reply



When connecting the SToRM32 gimbal controller via mavlink to the Pixhawk, getting parameters in MP doesn't work anymore. It just gets stuck on "getting params id 71". It is confirmed that more people have this issue. Firmware 0.89e, MP 1.3.33 and APM:C 3.3.2.

Bad days are coming....another multirotor failure....this time everyone will see it,world ski cup,no.1 skier escape for inches... https://www.youtube.com/watch?v=MvF49R_ZX5E ....what could go wrong?Marco Robustini,its in your country,do you know something about it?

Battery failure or ESC maybe. Operator faults: no safety distance, no parachute... that is not the proper way to promote professional use...

its no ESC...it drops down like a rock,propellers still spinning...and ist X8 prone to esc failure

Man, that was close!

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