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ArduCopter-3.2.1 Beta Testing

Posted by Randy on January 14, 2015 at 9:44pm

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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Tags: 321, apm:copter, arducopter, candidate, release
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Replies

                • Andy Piper > Michael Burmeister March 5, 2015 at 2:14pm

                  The symptoms I am seeing are the same as:

                  https://github.com/diydrones/ardupilot/issues/1692

                  I don't think his analysis is right. I think he is seeing my problem. But this is not RCMAP MIN/MAX values being used - this is CH2 going to 100% and staying there. This kind of makes sense because roll is normally CH1 - which is throttle in my case. So it seems like something is reading throttle for roll, it just doesn't explain why it only goes up not down.

                • Andy Piper > Michael Burmeister March 5, 2015 at 10:16am

                  Ok here is the data. But I didn't spend much time analyzing it last night and now I notice that the DesRoll step change is not there. I assumed it was the same issue because RCOUT 1-4 were all moving in step with RCIN3 but then are the OUT channels signals to the ESC? In which case all looks fine (?) and we are back to the bug you were talking about. If so I'll try manually setting min/max. I have to say this seems like a pretty serious bug fix to leave out of 3.2.x if it is the thing you are talking about. That said it wasn't as bad in 3.2.0 so maybe I will also downgrade and try that.

                  Thanks

                  andy

                  2015-03-04 21-55-46.bin

                  • Andy Piper > Andy Piper March 5, 2015 at 11:43am

                    Ok, took a few goes to try the options correctly and to double-check I did a throttle test props on holding onto the drone. Results:

                    1. With spektrum satellite only there is no problem. No high DesRoll and the pull feels right in my hand.

                    2. With PPM input and RCMAP I get the high DesRoll

                    3. Setting MIN/MAX has no effect. I still get high DesRoll when I raise the throttle and it stays there until I disarm. Log for the latter attached.

                    I didn't get this for 3.2.0. But I will have to downgrade to check as the RX is slightly different too.

                    2015-03-05 19-36-31.bin

                    https://storage.ning.com/topology/rest/1.0/file/get/3702941450?profile=original
        • Andy Piper > Randy March 4, 2015 at 11:57pm

          Sorry comment got borked.

          I don't think that's it - same problem with spektrum port and RCMAP on default

  • Michael Burmeister March 4, 2015 at 1:30pm

    Logs show sever pitch to the right. It looks like your RC1_TRIM is set to low.  I would redo the Radio Calibration.

     

    • Andy Piper > Michael Burmeister March 4, 2015 at 1:45pm

      Thanks for the input but I have a Spektrum setup so RC1 is the throttle. Throttle should not affect roll at all (right?!) I have also redone the RC calibration many times. RCIN shows exactly what I am doing on my Tx, RCOUT is screwy but DesRoll completely so.

  • Andy Piper March 4, 2015 at 11:54am

    I updated to ArduCopter 3.2.1, but also had a bad crash before on 3.2.0 and have since retuned a bunch of settings so not sure what is responsible for the current behaviour, which is this:

    As soon as I raise the throttle the desired roll goes hard over. You can see it in the attached log (ATT->DesRoll). It's not proportional to the throttle because lowering the throttle does not make the desired roll go down. The log was in my office but I also tried this in my garden and had an immediate crash. RC inputs look fine, MAG looks fine I can't see anything that might cause this.I also note that even though I am in stabilize, slightly raising the throttle seems to cause the motors to spin up a lot.

    Setup is 3DR DIY Quad 2015 with Pixhawk.

    Suggestions?

    2015-03-04 19-33-30.bin

    https://storage.ning.com/topology/rest/1.0/file/get/3701948408?profile=original
  • Michael Burmeister March 4, 2015 at 10:44am

    Never mine I found it.  I had to set the radio to more than 8 channels.

     

  • Michael Burmeister March 4, 2015 at 9:45am

    I have an XJT module with the two switches in the off or down position so yes its set for D16 mode.

     

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