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
I solved the problem .. the problem was due to a de-sync, corrected by replacing the firmware
Hi Randy and Craig,
Just to update you with the LOG_BITMASK set to 32768 or MASK_LOG_CAMERA.
The log result from a mission with above setting (32768) was successfully record the CAM log but missing the very important data to Geo reference image captured by the mission, which is GPS data that cannot be found by the MP > Geo Ref Images tool.
Only UBX1 and UBX2 data found and assume this is uBlox GPS data.
Assuming GPS data should look like this to enable Geo Ref Images tool to work:
Can I use this UBX1 data to geo reference an image?
if yes, then how?
Many thanks.
Waladi
The UBX1,2,3 messages all provide information about the condition of the GPS receiver and the noise of the GPS signal. Please refer to the ublox message specification regarding how to interpret them.
Hi Randy,
Please see log below:
TLOG
Pixhawk Log
Brief explanation on the Mission flight:
"Weird" behavior from my ground and log observasion:
Questions:
Personal Conclusions:
Many Thanks.
Waladi
If you are going to use the M8N then you will need to make additional provision to shield the GPS from the rest of the electronics on the vehicle. The M8N uses a very wide front end in order to receive both GPS and GLONASS signals. That makes it much more susceptible to noise than either the Ublox 6 or 7 series.
The noise results in degraded performance in the velocity measurements and in turn degrades the inertial navigation performance regardless of HDOP or number of satellites. i.e. you are tracking 20 satellites but there is sufficient noise on each of them that the velocity measurements are worse than tracking fewer satellites with less noise.
Ublox has recommended to me to not use the M8N on a vehicle unless it can be shielded and located far away from all noise sources. They did not want give me a specific number, but the order of magnitude was >1m.
Your results are consistent with their predicted behavior and indicate that interference with the GPS is an issue with your vehicle.
Phantom has his GPS shielded with cooper and eva rubber in layers
@Craig Elder
Thank you for the explanation :-)
What could be used to shield the GPS from noice?
you're probably better off trying to shield the noise sources.
re- gps noise. Forgive my ignorance I know this has been talked about but holy cow there are sooo many pages here. In the last vs of copter didn't they raise the acceptable number for the gps tolerance or something to that effect? So that it was less likely to get an error message? What param was that again? Would it be practical or a legit idea to slowly lower that number and fly around several flights and if no error messages then lower it and fly around again ect until you do get an error message then you might have some very real world way of knowing if your set up is borderline or pretty decent? Guess you'd want to keep the copter close in sight and ready to hit stab because doesn't it go into land mode when it does get the error?
does this noise show up in the ekf vel NE noise readings? I am using a virtual robotix Ublox NEO 8 gps and I am not seeing any ill effects. It is about 30cm from the electronics on a tail boom rather than mast (dedicated to the gps/compass...not a motor boom). my top and bottom plates are copper clad grp and the boom is carbon, which could have some shielding benefit.
wondering if its worth people comparing their vel NE noise figures assuming they are using ekf.
-
14
-
15
-
16
-
17
-
18
of 44 Next