@rmackay9 wrote:
Copter-3.4-rc3 is available for beta testing. It can be downloaded through Mission Planner and APM Planner 2.0 beta firmware link.
Release notes are here and copied below:We are getting close to the final release but we still have three issues to resolve which will be included in –rc4.
- parachute not triggering sometimes
- EKF's resetLastYawReset issue
- MOT_THST_HOVER getting too big and endless climb in some rare situationsChanges from 3.4.0-rc2
1) Landing detector improvements:
a) checks that descent rate is less than 1m/s (avoids disarms when vehicle is obviously still descending)
b) tradheli fix for landing detector
2) WP_NAVALT_MIN parameter limits maximum lean angle when vehicle is below the specified alt while taking off or landing. Only applies in LAND mode, final stage of RTL and during take-off in AUTO mode
3) GND_EFFECT_COMP parameter allows turning on EKF compensation for ground effect during take-off and landing
4) Advanced Failsafe for use in OutBack challenge
5) AutoTune minor improvement to reduce step size on vehicles with very low hover throttle (i.e. high power-to-weight ratio)
6) Bug fixes, minor improvement:
a) OneShot ESC calibration fix
b) LAND_SPEED_HIGH allows specifying vertical descent speed separate from WPNAV_SPEED_DN during
the initial descent in LAND mode (and final stage of RTL)
c) improved USB driver reliability for windows users (NuttX change)
d) report dataflash logging health to ground station
e) Guided mode accepts yaw rate from SET_ATTITUDE_TARGET messageThanks so much to our beta testing team.
Warning #1: please check the MOT_THST_HOVER parameter and ensure it's between 0.2 and 0.8. If it's
higher than that, please reduce it back to a reasonable value (check CTUN.ThO) and set MOT_HOVER_LEARN to 0 to disable the learning of this parameter. The issue is that it's possible (although unlikely) that during user ground testing, the hover-throttle can be learned to be too high and that when entering AltHold (or any mode in which the autopilot controls the throttle) it may climb and climb until the pilot re-takes control in Stabilize or Acro. This will be fixed in -rc4. The problem can also be resolved by increasing the ACCEL_Z_IMAX to 1000.
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