Developer

ArduCopter-3.2.1 Beta Testing

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.

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Replies

  • Hello everyone,

    I was hoping someone might be able to help me out with a problem in compiling the code.

    I've followed the instructions outlined at the following link but in compiling 3.2.1 it is coming up with various errors:
    http://dev.ardupilot.com/wiki/building-the-code/building-ardupilot-...


    Would anyone happen to know what is causing the errors?

    Building for ArduPilot Mega 2.x
    Excluding arduino core from include paths
    C:\ArduPilot-Arduino-1.0.3-windows\hardware\tools\avr\bin\avr-g++ -c -g -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections -mmcu=atmega2560 -DF_CPU=16000000L -MMD -DUSB_VID=null -DUSB_PID=null -DARDUINO=103 -mcall-prologues -DCONFIG_HAL_BOARD=HAL_BOARD_APM2 -DEXCLUDECORE -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Common -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Progmem -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Param -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\StorageManager -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_AVR -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_AVR_SITL -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_PX4 -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_VRBRAIN -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_FLYMAPLE -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_Linux -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL_Empty -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\DataFlash -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC_AnalogSource -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Baro -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Compass -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Math -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Curve -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_InertialSensor -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_NavEKF -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Mission -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Rally -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AC_PID -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AC_AttitudeControl -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\RC_Channel -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Motors -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_RangeFinder -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_OpticalFlow -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\Filter -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Buffer -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Relay -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ServoRelayEvents -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Camera -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Mount -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Airspeed -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Vehicle -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_InertialNav -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AC_WPNav -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Declination -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AC_Fence -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\SITL -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Scheduler -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_RCMapper -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Notify -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_BattMonitor -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_BoardConfig -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Frsky_Telem -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AC_Sprayer -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_EPM -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Parachute -IC:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Terrain C:\Users\Rx4\AppData\Local\Temp\build435285164728201931.tmp\ArduCopter.cpp -o C:\Users\Rx4\AppData\Local\Temp\build435285164728201931.tmp\ArduCopter.cpp.o
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/AP_HAL.h:13:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu/AP_Menu.h:20,
                     from ArduCopter.ino:88:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/UARTDriver.h:45:18: warning: unused parameter 'flow_control_setting' [-Wunused-parameter]
         virtual void set_flow_control(enum flow_control flow_control_setting) {};
                      ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/AP_HAL.h:15:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu/AP_Menu.h:20,
                     from ArduCopter.ino:88:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/SPIDriver.h:41:18: warning: unused parameter 'speed' [-Wunused-parameter]
         virtual void set_bus_speed(enum bus_speed speed) {}
                      ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/AP_HAL.h:20:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu/AP_Menu.h:20,
                     from ArduCopter.ino:88:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/RCOutput.h:56:22: warning: unused parameter 'chmask' [-Wunused-parameter]
         virtual void     set_safety_pwm(uint32_t chmask, uint16_t period_us) {}
                          ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/RCOutput.h:56:22: warning: unused parameter 'period_us' [-Wunused-parameter]
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/RCOutput.h:61:22: warning: unused parameter 'chmask' [-Wunused-parameter]
         virtual void     set_failsafe_pwm(uint32_t chmask, uint16_t period_us) {}
                          ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/RCOutput.h:61:22: warning: unused parameter 'period_us' [-Wunused-parameter]
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/AP_HAL.h:21:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu/AP_Menu.h:20,
                     from ArduCopter.ino:88:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/Scheduler.h:51:22: warning: unused parameter 'speed_hz' [-Wunused-parameter]
         virtual void     set_timer_speed(uint16_t speed_hz) {}
                          ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/Scheduler.h:56:22: warning: unused parameter 'time_usec' [-Wunused-parameter]
         virtual void     stop_clock(uint64_t time_usec) {}
                          ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/AP_HAL.h:23:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Menu/AP_Menu.h:20,
                     from ArduCopter.ino:88:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/Util.h:40:18: warning: unused parameter 'time_utc_usec' [-Wunused-parameter]
         virtual void set_system_clock(uint64_t time_utc_usec) {}
                      ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/Util.h:49:18: warning: unused parameter 'buf' [-Wunused-parameter]
         virtual bool get_system_id(char buf[40]) { return false; }
                      ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_HAL/Util.h:60:18: warning: unused parameter 'argv' [-Wunused-parameter]
         virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
                      ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\DataFlash/DataFlash.h:11:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:13,
                     from ArduCopter.ino:102:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:164:16: warning: unused parameter 'instance' [-Wunused-parameter]
         GPS_Status status(uint8_t instance) const {
                    ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:176:21: warning: unused parameter 'instance' [-Wunused-parameter]
         const Location &location(uint8_t instance) const {
                         ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:184:21: warning: unused parameter 'instance' [-Wunused-parameter]
         const Vector3f &velocity(uint8_t instance) const {
                         ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:192:11: warning: unused parameter 'instance' [-Wunused-parameter]
         float ground_speed(uint8_t instance) const {
               ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:205:13: warning: unused parameter 'instance' [-Wunused-parameter]
         int32_t ground_course_cd(uint8_t instance) const {
                 ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:213:13: warning: unused parameter 'instance' [-Wunused-parameter]
         uint8_t num_sats(uint8_t instance) const {
                 ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:221:14: warning: unused parameter 'instance' [-Wunused-parameter]
         uint32_t time_week_ms(uint8_t instance) const {
                  ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:229:14: warning: unused parameter 'instance' [-Wunused-parameter]
         uint16_t time_week(uint8_t instance) const {
                  ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:237:14: warning: unused parameter 'instance' [-Wunused-parameter]
         uint16_t get_hdop(uint8_t instance) const {
                  ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:246:14: warning: unused parameter 'instance' [-Wunused-parameter]
         uint32_t last_fix_time_ms(uint8_t instance) const {
                  ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:255:11: warning: unused parameter 'instance' [-Wunused-parameter]
      uint32_t last_message_time_ms(uint8_t instance) const {
               ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_GPS/AP_GPS.h:269:10: warning: unused parameter 'instance' [-Wunused-parameter]
         bool have_vertical_velocity(uint8_t instance) const {
              ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Airspeed/AP_Airspeed.h:12:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS/AP_AHRS.h:28,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\DataFlash/DataFlash.h:14,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:13,
                     from ArduCopter.ino:102:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_Airspeed/AP_Airspeed_analog.h:25:10: warning: unused parameter 'temperature' [-Wunused-parameter]
         bool get_temperature(float &temperature) { return false; }
              ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\DataFlash/DataFlash.h:14:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:13,
                     from ArduCopter.ino:102:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS/AP_AHRS.h:247:18: warning: unused parameter 'vec' [-Wunused-parameter]
         virtual bool get_velocity_NED(Vector3f &vec) const { return false; }
                      ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS/AP_AHRS.h:252:18: warning: unused parameter 'vec' [-Wunused-parameter]
         virtual bool get_relative_position_NED(Vector3f &vec) const { return false; }
                      ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS/AP_AHRS.h:323:18: warning: unused parameter 'eulers' [-Wunused-parameter]
         virtual bool get_secondary_attitude(Vector3f &eulers) { return false; }
                      ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_AHRS/AP_AHRS.h:326:18: warning: unused parameter 'loc' [-Wunused-parameter]
         virtual bool get_secondary_position(struct Location &loc) { return false; }
                      ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC/AP_ADC.h:60:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/../AP_BattMonitor/AP_BattMonitor.h:9,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:15,
                     from ArduCopter.ino:102:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC/AP_ADC_HIL.h:97:17: warning: unused parameter 'val' [-Wunused-parameter]
         void        setPressure(int16_t val) {
                     ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC/AP_ADC_HIL.h:103:17: warning: unused parameter 'val' [-Wunused-parameter]
         void        setGyroTemp(int16_t val) {
                     ^
    In file included from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/../AP_BattMonitor/AP_BattMonitor.h:10:0,
                     from C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:15,
                     from ArduCopter.ino:102:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC_AnalogSource/AP_ADC_AnalogSource.h:22:10: warning: unused parameter 'p' [-Wunused-parameter]
         void set_stop_pin(uint8_t p) {}
              ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\AP_ADC_AnalogSource/AP_ADC_AnalogSource.h:23:10: warning: unused parameter 'settle_time_ms' [-Wunused-parameter]
         void set_settle_time(uint16_t settle_time_ms) {}
              ^
    In file included from ArduCopter.ino:102:0:
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:102:17: warning: unused parameter 'id' [-Wunused-parameter]
         void        send_message(enum ap_message id) {
                     ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:110:17: warning: unused parameter 'severity' [-Wunused-parameter]
         void        send_text(gcs_severity severity, const char *str) {
                     ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:110:17: warning: unused parameter 'str' [-Wunused-parameter]
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:118:17: warning: unused parameter 'severity' [-Wunused-parameter]
         void        send_text_P(gcs_severity severity, const prog_char_t *str) {
                     ^
    C:\Aerial360 APM Software\ardupilot-ArduCopter-3.2.1\libraries\GCS_MAVLink/GCS.h:118:17: warning: unused parameter 'str' [-Wunused-parameter]
    GCS_Mavlink.ino:297:22: warning: unused parameter 'chan' [-Wunused-parameter]
    GCS_Mavlink.ino: In member function 'bool GCS_MAVLINK::try_send_message(ap_message)':
    GCS_Mavlink.ino:477:11: warning: enumeration value 'MSG_LIMITS_STATUS' not handled in switch [-Wswitch]
    GCS_Mavlink.ino:477:11: warning: enumeration value 'MSG_RANGEFINDER' not handled in switch [-Wswitch]
    GCS_Mavlink.ino:477:11: warning: enumeration value 'MSG_BATTERY2' not handled in switch [-Wswitch]
    Log.ino: In function 'void Log_Write_Cmd(const AP_Mission::Mission_Command&)':
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::param1' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::param2' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::param3' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::param4' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::x' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::y' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::z' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::seq' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::command' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::target_system' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::target_component' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::frame' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::current' [-Wmissing-field-initializers]
    Log.ino:453:39: warning: missing initializer for member '__mavlink_mission_item_t::autocontinue' [-Wmissing-field-initializers]
    commands_logic.ino: At global scope:
    commands_logic.ino:737:13: warning: unused parameter 'cmd' [-Wunused-parameter]
    control_acro.ino:8:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_althold.ino:8:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_auto.ino: In function 'void auto_run()':
    control_auto.ino:47:12: warning: enumeration value 'Auto_NavGuided' not handled in switch [-Wswitch]
    control_autotune.ino: At global scope:
    control_autotune.ino:178:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_flip.ino:36:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_land.ino:9:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_sport.ino:8:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    control_stabilize.ino:8:13: warning: unused parameter 'ignore_checks' [-Wunused-parameter]
    motors.ino: In function 'void pre_arm_checks(bool)':
    motors.ino:340:9: error: 'fence' was not declared in this scope
    motors.ino: In function 'bool pre_arm_gps_checks(bool)':
    motors.ino:564:28: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
    switches.ino: In function 'void do_aux_switch_function(int8_t, uint8_t)':
    switches.ino:216:53: warning: missing initializer for member 'AP_Mission::Mission_Command::index' [-Wmissing-field-initializers]
    switches.ino:216:53: warning: missing initializer for member 'AP_Mission::Mission_Command::id' [-Wmissing-field-initializers]
    switches.ino:216:53: warning: missing initializer for member 'AP_Mission::Mission_Command::p1' [-Wmissing-field-initializers]
    switches.ino:216:53: warning: missing initializer for member 'AP_Mission::Mission_Command::content' [-Wmissing-field-initializers]
    In file included from ArduCopter.ino:161:0:
    compat.h: At global scope:
    compat.h:6:13: warning: 'void run_cli(AP_HAL::UARTDriver*)' declared 'static' but never defined [-Wunused-function]
     static void run_cli(AP_HAL::UARTDriver *port);
                 ^
    ArduCopter.ino:183:13: warning: 'void update_optical_flow()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:221:22: warning: 'void send_limits_status(mavlink_channel_t)' declared 'static' but never defined [-Wunused-function]
    GCS_Mavlink.ino:297:22: warning: 'void send_simstate(mavlink_channel_t)' defined but not used [-Wunused-function]
    ArduCopter.ino:227:22: warning: 'void send_servo_out(mavlink_channel_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:231:22: warning: 'void send_rangefinder(mavlink_channel_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:240:1: warning: 'bool print_log_menu()' declared 'static' but never defined [-Wunused-function]
    Log.ino:252:13: warning: 'void Log_Write_Optflow()' defined but not used [-Wunused-function]
    Log.ino:552:13: warning: 'void Log_Write_Data(uint8_t, int16_t)' defined but not used [-Wunused-function]
    Log.ino:571:13: warning: 'void Log_Write_Data(uint8_t, uint16_t)' defined but not used [-Wunused-function]
    Log.ino:628:13: warning: 'void Log_Write_Data(uint8_t, float)' defined but not used [-Wunused-function]
    ArduCopter.ino:261:13: warning: 'void Log_Read(uint16_t, uint16_t, uint16_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:265:13: warning: 'void Log_Write_IMU()' declared 'static' but never defined [-Wunused-function]
    commands_logic.ino:903:13: warning: 'void do_take_picture()' defined but not used [-Wunused-function]
    compat.ino:8:13: warning: 'void mavlink_delay(uint32_t)' defined but not used [-Wunused-function]
    control_autotune.ino:674:13: warning: 'void autotune_failed()' defined but not used [-Wunused-function]
    ArduCopter.ino:359:13: warning: 'void guided_set_velocity(const Vector3f&)' declared 'static' but never defined [-Wunused-function]
    control_guided.ino:210:13: warning: 'void guided_vel_control_run()' defined but not used [-Wunused-function]
    ArduCopter.ino:374:13: warning: 'bool ofloiter_init(bool)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:375:13: warning: 'void ofloiter_run()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:376:16: warning: 'int32_t get_of_roll(int32_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:377:16: warning: 'int32_t get_of_pitch(int32_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:378:13: warning: 'void reset_optflow_I()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:399:13: warning: 'void parachute_release()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:400:13: warning: 'void parachute_manual_release()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:418:13: warning: 'void fence_send_mavlink_status(mavlink_channel_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:425:13: warning: 'void heli_init()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:426:16: warning: 'int16_t get_pilot_desired_collective(int16_t)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:427:13: warning: 'void check_dynamic_flight()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:428:13: warning: 'void update_heli_control_dynamics()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:429:13: warning: 'void heli_update_landing_swash()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:430:13: warning: 'void heli_update_rotor_speed_targets()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:431:13: warning: 'bool heli_acro_init(bool)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:432:13: warning: 'void heli_acro_run()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:433:13: warning: 'void get_pilot_desired_yaw_rate(int16_t, float&)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:434:13: warning: 'bool heli_stabilize_init(bool)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:435:13: warning: 'void heli_stabilize_run()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:477:13: warning: 'void init_sonar()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:485:13: warning: 'void report_batt_monitor()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:486:13: warning: 'void report_frame()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:487:13: warning: 'void report_radio()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:488:13: warning: 'void report_ins()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:489:13: warning: 'void report_flight_modes()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:492:1: warning: 'void print_radio_values()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:494:1: warning: 'void print_switch(uint8_t, uint8_t, bool)' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:496:1: warning: 'void print_accel_offsets_and_scaling()' declared 'static' but never defined [-Wunused-function]
    ArduCopter.ino:498:1: warning: 'void print_gyro_offsets()' declared 'static' but never defined [-Wunused-function]
    system.ino:405:13: warning: 'void telemetry_send()' defined but not used [-Wunused-function]
    ArduCopter.ino:524:13: warning: 'void print_hit_enter()' declared 'static' but never defined [-Wunused-function]
    flight_mode.ino:283:1: warning: 'void print_flight_mode(AP_HAL::BetterStream*, uint8_t)' defined but not used [-Wunused-function]

    • FYI:

      I ended up working out what was causing it not to compile. If I define the AC_FENCE (deactivate it) it stops the code from compiling.

      #define AC_FENCE              DISABLED            // disable fence to save 2k of flash


      Is it mandatory that the fence be active in the build?

    • Thanks Randy, thanks Andy. I'll send an email as suggested. Cheers.

    • Developer

      the drones-discuss@googlegroups.com email list has a bunch of developers on it and should be able to help.

    • I recommend you go the make route. That works fine for me, albeit slowly. Better still install VirtualBox, Ubuntu and then build relatively rapidly :)

  • Hi guys,

    Im nopt sure if anyone has experienced this issue. I recently upgraded my X8+ and my custom built Tarot Ironman with pixhawk to AC3.2.1. before that we tuned our copters quite well on AC3.2.

    After the upgrade we noticed the tuning was loose. When i looked at the Full Parameters list, for Rate Roll P and Rate Pit P, both were only able to set on a range between 0.08 and 0.20. I had another X8+ where we bought RTF from 3DR and was tuned and on AC3.2.1 from the factory, even though the values were about 0.35, the min max was the same.

    Is there a way to increas the max for Rate Roll P and Rate Roll Pitch? Previously i remember the max was much higher. 

    Cheers,

    Rusydi

  • Hi Randy,

    unfortunately today i was having a fly away and i'm don't know why, could you please take a look on the attached Log ?

    It was all fine until the last seconds, suddenly it starts to fly away not responding to the inputs.

    there are a lot of failures like  Baro, GPS and i don't know if this is the reason for.

    Thanks

    2015-03-27 18-01-31.zip

    • The vibration level for me seems ok, but flying high dynamically in stabilize or acro mode increases the vibrations, if you see below at the end of a 360° roll the vibrations are high (see below point 2). what should i change to make  better ?  
      On my opinion flying high dynamically in Stabilize or Acro should be possible without failure. The Copter is flying up to 27m/s and has climbrates up to 21 m/ss that's a lot. Perhaps i have to change the settings like Baro glitch or GPS glitch ?

      if you look on the pic below you see at point 4 that the copter is in stabilize and it makes a roll to 180° which is normally not possible because of angel limit  to 45°.
      In the very next Point 5 the copter turns itself back to almost level but it is flying away.
      As the Throttle respond is given i'm ground it by turning throttle off.

      3702556694?profile=original

      • MR60

        You can't diagnose your vibe levels on such a large scale. You need to zoom in to be able to see Zacc excursions between +12g and -12g (not 200 like your graph scale is showing).

        Probably your flyaway has to do with way too high vibe levels, especially if you're flying at such speeds of more than 20m/s when the typical cruise speed of a multicopter is a fourth of that (around 5m/s).

This reply was deleted.

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