The ArduPilot development team has a special treat for fixed wing users today - a double release!

  • A new stable 3.2.3 release with 3 fixes for 3.2.2
  • A new 3.3.0beta1 release with a lot more changes for wider testing

The 3.2.3 release is a minor update to 3.2.2 with 3 fixes:

  • A fixed to relative altitude drift when on the ground before takeoff
  • fixed TKOFF_THR_DELAY to be able to be up to 127 (for 12.7 seconds)
  • fixed INS_PRODUCT_ID (it was being reported as zero)

The most important fix is for the altitude drift, which could cause a poor altitude reference if your GPS altitude drifted while disarmed. The bug showed up as a significant drift in the reported relative altitude on the ground station when the aircraft was disarmed with the EKF enabled. The root cause of the bug was a disconnect between the EKF origin and the planes origin for relative altitudes. It only happened when the GPS altitude varied significantly while disarmed.

Start of 3.3.0 beta releases

The 3.3.0beta1 release has a lot more changes in it. The largest of the changes are internal, such as performance improvements in the NuttX operating system on Pixhawk, but given the size of the changes we want as many test users as possible.

Changes in 3.3.0beta1 include:

  • a new SerialManager library which gives much more flexible management of serial port assignment
  • changed the default FS_LONG_TIMEOUT to 5 seconds
  • raised default IMAX for roll/pitch to 3000
  • lowered default L1 navigation period to 20
  • new BRD_SBUS_OUT parameter to enable SBUS output on Pixhawk
  • large improvements to the internals of PX4Firmware/PX4NuttX for better performance
  • auto-formatting of microSD cards if they can't be mounted on boot (PX4/Pixhawk only)
  • a new PWM based driver for the PulsedLight Lidar to avoid issues with the I2C interface

I'm expecting a lot more changes will go into the 3.3.0 release as we still have a lot of pending pull requests. I will be doing regular beta updates as new patches go in (once they are flight tested).

Happy flying!

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Comment by Hein du Plessis on February 23, 2015 at 12:03am
Wonderful, going to get flashing right away!
Comment by Adam Kroll on February 23, 2015 at 1:57am

On this page you have a diagram of all of the pins of the pixhawk, with pin 103 labelled, but no mention of it in the text.  Is pin 103 required?

I love the power saving option, you've thought of everything :)

Comment by Justin L on February 23, 2015 at 3:38am

@Andrew - i am setting up a new plane with a pulsedlight lidar on it. Would you go straight to the 3.3.0? I know the risk with a beta release but sounds like there might be more risks with the lidar on 3.2.3.

@Adam - i was going to as the same thing.

Comment by Andrew Tridgell on February 23, 2015 at 3:48am

@Adam, I re-used an existing diagram as I am terrible at drawing

Comment by Andrew Tridgell on February 23, 2015 at 3:49am

@Justin, personally I'd use 3.3.0beta with a Lidar. There is a lot of new code, but the I2C issues with the Lidar are quite bad

Comment by Justin L on February 23, 2015 at 3:54am

@Andrew - I will use 3.3.0beta. Should be in the air within 2 weeks if everything test out ok. Will let you know how it goes.

Comment by Andrew Tridgell on February 23, 2015 at 4:16am

@Justin, there will probably be a new beta out by then

Comment by MarkM on February 23, 2015 at 4:56am

It looks like its dual platform but just for confirmation, is 3.3 going to be for apm and pixhawk, or just pixhawk?

Comment by Andrew Tridgell on February 23, 2015 at 12:31pm

@Mark, 3.3 will be for all platforms (APM1, APM2, PX4, Pixhawk, NavIO, PXF, VRBrain etc). We're not out of flash space yet for the APM1/APM2, although we're getting very close.

Comment by Andrew Tridgell on February 23, 2015 at 12:32pm

For those of you trying the PWM Lidar driver, I forgot the resistor in the initial wiki instructions. Fixed now.


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