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

    • All the settings has not been affected, in my case.

    • I would like to know this as well :-]

      do I need to rerun compassmot/PowerModule voltage/current calib, etc.?

      • Moderator

        Normally all the saved parameters will be carried over in a minor upgrade unless the devs say they won't, but of course it's always good to save or backup your parameters before every upgrade anyway.

  • My compass comes up as 0,0,0 and the altitude starts of high and then settles. My quad was stellar with my new new PX4 but with new firmware and new mission planner it's not flyable.

    • 0.0.0 can be for a couple of reasons, but most likely the compass calibration was not done.  You can run the compass calibration and see if that fixes it, or reload the firmware and then do a complete calibration.

      Its sorta the Windows solution of re-install to fix it... 

       

    • Did you try load 3.1(pick previous firm...)

      • Not yet.

  • Hello

    I have problem with Pixhawk and MP and 3.1.3...hood is rotating in Mission planer

    Everything is working normal when I load 3.1

    • Still had it in my downloads folder.
      • I installed MP 1.2.98 and was able to calibrate my internal compass with it.

        Offsets with MP 1.2.99 = 0 0 0

        Offsets with MP 1.2.98 = 52-292-310

        After I calibrated the internal compass with MP 1.2.98, I calibrated the external compass. Here are the offsets for the external compass:

        first time = -15 18 95

        second time = -72 10 55

        The Yaw (deg) looked correct for both the internal and external compass calibrations.

This reply was deleted.

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