After months of testing by the beta-testing team, Copter-3.3 is ready for wider use. Similar to the Copter-3.2 release this is a "soft launch" meaning that for the next couple of weeks, we are asking users to load the new version using the Mission Planner's "Beta firmwares" link on the Install page. The MP will pop-up a "use at your own risk" message but rest assured, this firmware has been very thoroughly tested.
We also recommend that you use the Beta Mission planner until Copter-3.3 becomes the default (in about 2 weeks). Open the Mission Planner and select Config/Tuning >> Planner and click the Beta Firmware checkbox. Then Help >> "Check for Beta Updates". The download and install will take a few minutes.
Unfortunately this version and all future versions of Copter only work with fast CPU boards like the 3DR Pixhawk (and compatible) boards, VRBrain, NAVIO+, etc. Slower CPU boards will continue to be able to load the Copter-3.2.1 release.
Issues should be reported in the APM Forum.
The wiki has been mostly updated but if you spot missing items please report them to the wiki issues list.
The full set of changes can be seen in the Release Notes but the highlights are below.
Known Issues/Warnings:
- users will need to re-calibrate their accelerometers because of 5c (accelerometer range increase).
- FrSky telemetry users must set SERIAL2_PROTOCOL to "3" and reboot the board to enable FrSky telemetry like in previous versions
- this version corrects a long standing issue in the HDOP reporting so values will appear about 40% lower than previously but this does not actually mean the GPS position is better than before.
Changes vs Copter-3.2.1
1) EKF replaces DCM/InertialNav for attitude and position estimation which provides more feedback and robustness in case of sensors failures
2) Control improvements:
a) battery voltage compensation should maintain control as voltage drops
b) current limiting can be used to reduce the maximum current requested to reduce strain on battery and ESCs
c) air pressure compensation should reduce need for re-tuning when flying at different altitudes
d) improved throttle curve should reduce wobbles during descents
3) AutoTune for yaw
4) Cameras & Gimbal improvements:
a) SToRM32 gimbal support
b) do-mount-control mission command allows controlling absolute camera mount angle during missions
5) Vibration resistance:
a) real-time reporting of vibration levels by clicking on Vibe field on HUD (also recorded to logs)
b) noise weighted average of accelerometers used to weight IMU towards the one exposed to less vibration
c) accelerometer range increased from 8G to 16G to allow use in higher vibration environments (i.e. reduced "clipping")
6) Other:
a) improved landing on slopes
b) retractable landing gear support
c) channels 9 ~ 12 can be used as auxiliary switches (like ch7, 8)
d) PX4flow (optical flow) support in Loiter
e) Brake flight mode (stops vehicle quickly but requires GPS)
f) allow GPS, Telemetry, SToRM32 gimbal to be connected to any telemetry/serial port
g) Lidar-Lite V2 support
h) bug fix to RCMAP - remapped channel's MIN, MAX were taken from incorrect parameters meaning all channel ranges had to be the same
7) Tricopter tail servo parameters (MOT_YAW_SV_MIN, MAX, TRIM, REV)
8) Safety items:
a) crash check triggers with 30deg lean angle error (for 2 sec) even if pilot's throttle is non-zero
b) modified pre-arm checks to ensure good quality GPS and compas data
c) lost copter alarm (hold both sticks down and right)
d) motor interlock & emergency motor stop features on auxiliary switches (ch7 ~ ch12)
e) RTL_CLIMB_MIN parameter allows forcing vehicle to always climb a few meters at beginning of RTL
f) LED flashes green quickly if disarmed with 3D lock and SBAS
Special thanks to Marco and all the beta testers who put their vehicles at risk so we could iron out the problems during the testing phase and ensure a more reliable firmware for the wider community. Here are some of their videos:
ChrisN #1, #2, Paul Atkin #1, #2, #3, Gervais #1, #2, #3, Gleb Falaleev #1, #2, Pomaroli, Michael, Robert Baumgartner, De Le, Robert Baumgartner, Robert Navoni, Maciej Karpinski
Comments
Thank's Randy. Tempted to give a try ;)
To be clear about the video, I'm pretty sure that it's two completely separate vehicles which have the same mission loaded (although with different altitudes) that are switched into AUTO at the same time. The vehicles are set-up with the same waypoint speed targets and similar tuning so they tend to fly the mission at nearly exactly the same speed but there's no communication going on between the vehicle to keep them in sync.
Sorry if people were misled. Still, I think the video shows something that many of us haven't seen before and is pretty to watch even if it's not an iron clad solution to multi-vehicle flying. I was personally surprised at how long the vehicles stayed in sync.
BTW, Ardupilot (including Copter) can be flown in multi-vehicle environments (even 50 planes) but so far we don't have any readily available ground stations that make it really easily to control multiple vehicles.
Thanks to the developers and testers for all the great work resulting in this release.
We actively recommend against ESC low voltage cut offs because it's better to ruin the battery than endanger who/what is below in an inadvertent low voltage situation and destroy the aircraft. But putting a giant switch on the controller that would do the same thing is a good idea? Not following the logic. And someone with 2000 hours of flight experience (vast minority of users) is not who I'm worried about. Not that it makes you infallible just the same.
So I'm the only one here that thinks an option for a self-destruct button labeled as a safety feature is not a good idea. OK then.
:O :O :O video is impressive : ) . How you do it?, same mission at different altitude? or something else?
Many thank's to developers and Beta testers for this release, a hard work you did.
P2P,
I understand your point, however I disagree. No I don't think it will be the cause of "many many crashes". Some perhaps, but this is not feature enabled by default, and it is up to the end user to weigh the risks/benefits from the use of this feature. I think we all know where you stand.
Personally I have been flying for over 30 years now and have used throttle mixing to provide a "kill" switch for both combustion and electric propulsion systems for most of that time. In that time I have probably had somewhere in the vicinity of 2000 flight and I've never had a crash due to an accidental actuation of my kill switch. Furthermore I know dozens of users who have similar setups, and I have never heard of one of them accidentally triggering their kill switches in flight. Granted most of those flights didn't involve multi-rotors, but they still had the same potential to result in a "dead stick" landing or mid-air restart.
Keep in mind this is the first release of a new feature. The feature works as described. If you or others have enhancement requests to improve the feature by all means make your suggestion, but don't expect everything you want in a feature when it's brand new. If that were the case we could all go home and never come back to further development of the system.
Could you stop the motors in flight, yes; are we going to see large numbers of multi-rotors dropping out of the sky...
Regards,
Nathaniel ~KD2DEY
merci a tous pour votre excellent travaille
Pedals, a momentary would be fine to kill the motors in an emergency. Helicopters are flown all the time with this feature, not momentary, and I hear no complaints. I actually just held my TX to test myself. I closed my eyes and was able to identify all my switches by feel as well as the three knobs on my Futaba super 8. I still don't see a problem. And for the interlock it would be held to arm so when released the rotors would be spinning. But again I just don't see any reason to be concerned.
Regards,
David R. Boulanger
David, A momentary switch would incompatible. For the emergency stop, it would defeat the safety nature of it killing and keeping them killed. And for the interlock, it would require holding the switch for the entire flight like a deadman.
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