ArduCopter 3.2.1-rc2 (release candidate #2) has completed beta testing and has been released as the official version available through the mission planner and other ground stations.
Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
a) reduced twitch when passing Spline waypoints
b) Faster disarm after landing in Auto, Land, RTL
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
a) Add desired descent rate check to reduce chance of false-positive on landing check
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
c) PosHold wind compensation fix
d) prevent infinite loop with do-jump commands pointing at each other
e) pixhawk memory corruption fix when connecting via USB
f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
g) protect against multiple arming messages from GCS causing gyro calibratoin failure
Thanks to Raph for the video. This is actually a video from AC3.2 until we have one specific to AC3.2.1.
Replies
+1
Can you explain more what was happens? you connect the copter and become to spin suddenly? it was armed or disarmed?
most probably it's vibrations. but I had been very careful about vibration damping since 2013. may be because of EKF use enabled the autopilot has become more sensitive. also I did not play with althold kP when switching between AC3.1.5 and AC3.2.1. it is possible that by fine tuning althold kP the issue would be resolved. I will be flying today using AC3.2.1 and tune the althold kP using CH6 knob. would update the results. I am really enjoying being a 3DR droner. the best thing I could ever do. even launched a low cost quadcopter kit to help college kids.
Randy, I do confirm that there is issue with alt hold when I switch from AC3.1.5 to AC3.2.1. The craft flies great in all modes with AC3.1.5. After loading AC3.2.1 the craft stays for a while in loiter mode but climbs with slight gust of wind. this happened with APM and as well Pixhawk. I reverted back to AC3.1.5 and the problem vanished. I understand that this has been taken care of in AC3.3 which I will try tomorrow.
Ravi,
Sure, let's see how AC3.3 goes. If the issue is caused by vibration then it could be better in AC3.3. If it's caused by some other problem then it may not be resolved by AC3.3. Thanks for testing in any case!
I'm not shure if an issue in my radio programming or something to can change in the code.
What happens: when you try to pilot the cuad when it's set to LAND and you don't advertise it, the copter becomes crazy and crash or near.
When happens: if you have a bad compass heading, the copter switch to land but if you don't advertise the change you try to continue flying, the copter becomes unmaniobrable and crash as some people reporting crashes I can notice that they have the same problem that I had, perhaps something in the code that indicates that if the pilot try to continue flying but not change to a non compass mode the copter continues land? or do something else better than become crazy?
Another scenario is when a silly woman forgot to desactivate the LAND switch and try to take off, the copter take off but them he do what he wants, when she looks the logs, the copter was switching to RTL and stab and trying to land; I check the PWM values and they don't change when I switch to LAND, they stay in the same value as the last mode. It's something that I can I do to say the copter to do something more inteligent than be crazy? The log is from the second scenario, I have the bad compass too but I don't find yet.
2015-04-09 16-54-27.log
Randy is there a chance that 3.2.* firmware will get rid of this "oversensivity"?
I've rebuilt my copter, vibroisolated controller, got somehow steady flight, then added weight to controller (to add more inertia to controller and make it less sensitive to small vibrations). It lowered vibrations but made fluctuations worse.
The worst is that it's very inconvenient to use new MP with old firmware like 3.1.* because some functionality just don't work right.
vibro.png
Marko,
It's possible that we could release an AC3.2.2 which has an increased accelerometer range. It would be good first though to confirm that vibration is the cause so I'd like a Pixhawk user with that problem to try out AC3.3-rc1.
BTW I recommend using the 3M vibration dampening foam found in the 3DR store.
Is there a way to implement less resource demanding filter? Like Non linear Bayesian. Of course if it will be less "heavy" than EKF.
My vibration dampening mechanics is shown above
Hi Mihail,
please see https://github.com/diydrones/ardupilot/issues/1952 (closed invalidly(read the comments and read #1951 before that) and this comment by the developer http://diydrones.com/forum/topics/arducopter-3-2-1-beta-testing?id=...
As they dont see any problem .. dont count on ANY support from the APM folks for this issue..
the code has MANY race conditions and unplanned for transitions caused by RCRF errors ,
(just look through the closed issues and comments to find same that are not being addressed)
I would have trouble using APM with my municipal agency customer base given the attitude their development team has shown to this issue...and to others..
We are continuing on with OpenPilot and discontinuing the use of APM OR 3DR products...given the above.
hzl
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