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
In a DISCO there is virtually no airflow in the front as the TBS has the gimbal, GoPro, dampeners and pilot camera directly in the front so its pretty buried, but heres a pic.
You may have your APM mounted too far forward. I had a disco clone and the rear of the APM was between the rear arms. Not being a traditional X frame, the Center is farther back.
I have even tried to seal the baro in a condom ( well not an Actual condom) Lol ..but seal it so it has no access to the outside air and the craft still drops altitude in one direction .So I think this "issue" with saying it is affected by pressure decrease when flying FFWD as some merit "if your fully exposed to fast moving air.. but then why does it still drop when flying FFWD fully sealed?
Regards R
My experience was with a Aqucopter. It's a waterproof quad. It came with a small 1/2" circle patch that let air in but not water. With just that it would very often lose alt badly going forward. Why?? I'm not sure but it seemed that air pressure would push in that small hole and make the pixhawk think it was in higher pressure air. But wouldn't that mean it should try to go higher?? Never made any sense. But it is what it is... If I left the battery door open in the back which was a opening big enough for a 5200mah battery it would fly just fine without that problem. I tried a snorkel of sort and several other things. Nothing worked very well. The only thing that was consistent is it consistently didn't stay at the same darn altitude going forward at a somewhat fast speed. 15 mph or so or more. It might not seem like the air pressure but I bet it is! It's really finicky about that. Put some foam in the front and around it as much as possible leaving some space on the sides and try it.
Yes you would think the correct way is Less pressure means the copter thinks its higher so drops . Higher pressure thinks it too low so climbs ..So in your case of the vent letting air in it would climb rather than fall. I guess it was creating a negative pressure so it drops ..
Hallo
Can somebody have a look on my log.
I upgrade today from 3.2.0 to 3.2.1 and make a little testfly.
Now there a some things in the log which i didn't understand. At first the big differenz between the Throttle in and throttle out. You can see the attitude change only a little bit, but i have to change the throttle in for 200-300. Is this normal? The second is the glitch in the ampere. There is no issue for me that the ampere have to go over 40. Have somebody an Idee?
And the last. Ther are now more than 400 in the long running loops. Before i has not more than 140. Is this in this version normal? And are there any Problems in the flight with a such a lot of long loops?
Thank you for some input.
Helmut
2015-03-01 16-05-49.log
3.2.1 is working great for me but I was curious what is next? What features are being added in the next version?
I hope they are working on sonar for positioning so it can hold position without gps. Nice!!! it's out there on much more expensive systems but it seems it would be mostly code now. The pixhawk should be able to process the info now. APM.. probably not. I can only imagine the code... very complex I bet. Now THAT will be true beta testing! Break out the duct tape and ca glue. I'm ready!!
Had an issue with an auto mission yesterday and thought I would bring it to someones attention. No crash but some weird things went on.
So basically if you look at this pic:
You can see that around the 5min mark the copter switched to Stabilize mode and went up in altitude to 246' and then an RTL was triggered but then a bit later it went back to Auto mode and continued on it's mission and then another RTL later on but that was probably for battery failsafe. Anyways I'm thinking there is a bug for this to happen. I didn't touch any switches during this flight until the very end I put it in drift mode and then it just ran out of battery and landed.
Here is a video of the mission "https://www.youtube.com/watch?v=3vnyT-Q6fAo" and I have also attached the log file and mission waypoint file. Tried to attach the log file. It's here: https://app.box.com/s/svpudbu2mlrvt9vw77tvaw6u3xoy7x9j
Let me know if you see anything weird.
Thanks
Brad
2-25-15-mission.txt
What size battery did you have on this? i would think distance alone would tax the battery thus the first failsafe. or did you modify failsafe setting for a battery? thats really far to fly out of the line of sight to trust a battery or flight controller. just my opinion
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