Developer

ArduCopter-3.1 released!

After months of testing AC3.1 is finally available in the Mission Planner and GitHub.

Warning #1: If the vehicle is left landed (but armed) while in AltHold or Loiter mode for more than a few seconds, the vehicle may suddenly jump into the air the moment the pilot raises the throttle above zero.  The reason is the baro altitude may fall while the vehicle is sitting on the ground.  In AC3.2 this bug is fixed because we reset the target before take-off.

Warning #2: Motors will spin (slowly) by default as soon as the copter is armed!  You can switch this feature off by setting the MOT_SPIN_ARMED parameter to zero.

Warning #3: if you see "Bad Gyro" on the HUD then you may have a blown 3.3V regulator.  See this thread for details.

Warning #4: if you use a sonar set the SONAR_GAIN parameter to 0.8 or lower

Warning #5: Trad Heli users should now connect their main rotor ESC to APM's RC8 output

Warning #6: Trad Heli BUG causes loss of collective control in ACRO mode if swash type set to flybarred (i.e. not flybarless).  Will be fixed in AC3.2.

 

The major improvements over AC3.0.1 are (full list here):

1. Pixhawk support (Tridge & PX4 development team)

2. Autotune of Roll and Pitch gains (Leonard/Randy)

3. Drift mode (Jason)

4. Improved Acro (Rob/Leonard) and new Sport mode (Leonard)

5. Arming, Take-off, Land in Loiter or AltHold

6. TradHeli improvements (Rob) including:

a) support for direct drive tail rotors

b) smoother ramp-up of main rotor

c) reduced collective for better control in stabilize mode (STAB_COL_MIN, STAB_COL_MAX params)

7. Support for SingleCopter (Bill King)

8. Performance improvements resolve AltHold troubles for Hexa & Octacopters

9. Safety Improvements:

a) GPS Glitch detection (Randy)

b) Motors spin when armed (Jonathan Challinger)

c) crash detector shuts off motors if copter flipped for 2secs

d) batt failsafe option to RTL instead of LAND, gps failsafe option to trigger AltHold instead of Land

e) more pre-arm checks of inertial nav speed,

10. Bug fixes:

a) optical flow working again (although performance is still not great because not integrated with inertial navigation)

b) ROI working (use DO_SET_ROI command)

 

How to upgrade:
Click on the MissionPlanner's Initial Setup >> Install Firmware screen.  The version numbers should appear as "ArduCopter-3.1", then click the appropriate frame icon and it should upgrade as per usual.

Special thanks to Marco and the many beta testers on the AC3.0.1 thread who put their copters at risk during the testing of this new version and uncovered many problems so that you don't have to!  Here are some of their videos: loiter in wind, patio sonar, autotune, autotune2, roi, beach, acro, vrbrain, tricopter, train spotting, radio failsafe, the tree, double loiter

 

If you haven't seen it recently, please check out the ArduCopter wiki.

 

Feel free to post comments below and we're going to use the new APM Forum for support issues so please post your support requests there.

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Replies

  • Marco,

    Thanks for the 3.1 video with the flight mode demos.

    Forgive me if this has been answered before, but can you share with us your flight mode switch setup, and your reasoning for your switch choices and the relationship between the various switches?

    Thanks!

  • This looks great. Thanks to the team and testers. I can hardly wait to try it out.

  • Another great piece of software got a quick test last night and the Quad Feels more solid. Had it out in the wind today according to the forecast 19mph probably more like 15mph it bounced around in the gusts but otherwise a real solid platform I am really impressed.

    David Ardis  

  • Is it normal that I can not see this announcement on the main diydrones page ?

  • MR60

    Congratulations and big thanks to all developers and testers who created this wonder software! 

    On my way to upgrade my X8 coaxial octoquad. Due to the processing limits of APM 2.5, should I restrict myself from using CPU intensive functions like auto tune or drift mode ?

  • Very cool. I'm curious, can I use it with my 2.5 board? I think the last time I flew it, it was running 2.9 and I had a flyaway. I shelved it after that.
  • Certainly not ungrateful for the upgrade and awesome looking code - the demo vid seems to perform very nicely!

    I would like to understand the blown regulator though? If I upgrade my 2.6 to 3.1 (from 3.0) will I blow the regulator? The video does not make it very clear. If so, surely it cannot be released as such because not everyone trawls the forums for info. Some might upgrade because MP says there is a new version. 

  • Drift mode....

    Oh god, I've wanted this for sooooooooo long! I'm upgrading to 3.1 just for this feature on it's own. Just got the agony of the waiting now until the weekend when I can try it out.

    Just simply awesome work guys.

  • The base version of Randy's 3.1 Release page is now in the Wiki as well with links back to this discussion so people can see the comments too. http://copter.ardupilot.com/wiki/version-3-1-apmcopter-firmware-pre...

  • Thank you,

    I just did a torture test of the autotune due to lots of soft snow...

    A well overpowered quad with very, very bad PID values (I made them too big on purpose, closer to the "defaults"  - the quad was barely able to fly, but autotune got it right anyway, after 1 minute or so, it was no longer flying like it was about to crash, when completed, it flew well.

    One thing it did not touch (as expected) ws YAW pids, BTW,; is there a "rule of thumb" for yaw PIDs ?

This reply was deleted.

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