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.
Replies
I think firmware v3.1.3 still has a problem related to compassmot. Here is a link to a thread where I discussed issues I was having with motors being out of sync on my quad. I zeroed the COMPASS_MOT values and that fixed the problem. This was with an APM 2.6 with external GPS/compass.
http://diydrones.com/forum/topics/number-4-motor-on-quad-running-sl...
I had another quad that I was having issues with. I dropped back to firmware v3.1 and calibrated the ESC's and that fixed the issues. It was also an APM 2.6 with external GPS/compass.
It's 30th of April but no AC3.2 yet. :)
good thing need time jay
Hello Arducopter Droners,
I experimented arducopter since version 2.6.
Now I'm using pixhawk with v3.1.3 firmware on hexarotor.
Since I updated to V3.1.3, automatic land is not working properly when it's automatically engaged in a auto mission mode or when the RTL mode engages the landing phase.
Infact, drone goes down normally, then it stabilizes at 10 meters above the ground and not move, while the RTL_ALT_FINAL parameter is 0.
Fortunately, I finished the landing by taking the hand in manual mode.
You will find attached the log of the last flight where I am testing different automatic landings.
Any thoughts are greatly appreciated.
I was using AC3.0 on APM2.5 earlier. After I updated my firmware to AC3.1.3. All was fine, auto tuning was superb, loiter was rock. But "Flight Mode" disappeared from MinimOSD the rest of the display remains as before. I tried all updates to miniosd no success. As soon as I revert back to any version below ac3.1 . Flight modes start showing again.
Any help or idea what might be going on? Thanks
NB: I believe this guys' problem is related to mine:
http://diydrones.com/forum/topics/enable-logging-flight-modes-does-...
Hi guys, I've come across an issue with my Pixhawk quad. When I have an external mag connected, the copter will slowly yaw clockwise, or anticlockwise depending on whether the heading is more or less than 180 degrees. Tried two different mags with the same result.
Does anyone have any insight as to what's going on? I have a thread here with dataflash log: http://diydrones.com/forum/topics/copter-yaws-in-all-modes-with-ext...
Hi!
I have a suggestion for new APM code.
How about make AutoTrim/SaveTrim modes to set THR_MID parameter? It is much easier than digging log files and look for idle throttle curve. I think it is easy to make and less params to tune. And it is also good for variable payload copters. For example if you swap 5000Mah battery to 10000Mah your THR_MID will be significantly different from the old one. To change THR_MID you would look at the log and redo setting THR_MID again. With SaveTrim you just liftoff find your throttle middle, savetrim and land.... Profit :)
The potential issue is that if you're in stabilize mode then from the moment it saves the thr-mid it will take effect and the copter might rise or fall. I guess we could delay it so that the thr-mid change doesn't happy until you disarm/arm again.
It would be great!
I think this could be a good idea. I can not think of any disadvantage...
-
37
-
38
-
39
-
40
-
41
of 106 Next