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.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

      • wow that is toilet bowling!! No mine is more like a 4 foot circle. But yes the gps is on a mast and arrow forward. No wires near it. All in 1 esc all the way at the bottom. So must just be the motors I guess. So this happens when the two compass start to diverge from each other after initial arming? I will try the motor compensation like in your video that was a huge improvement. Overall however it flies fanatic. The way it brakes in pos hld while I'm yawing is particularly amazing! 

      • Even the hawk was toilet-bowling

      • Hi Randy can this version still be used on APM ver 2.5

        regards George

        • Developer

          George,

          Yes it can!

  • Hello guys,

    I flown the 3.3 dev, due to the accel health issue,for about one month.( Andrew's tip)

    i see that  the 3.2.1 try to reconfigure the IMU, but the "wrong" for my issue ( cause it's seems that  it's the lsm that cause issues) if i well understand ;-)

    I'll try the new one as soon as the sky stop to cry :-(

    • Developer

      Vic,

      Sorry for the slow reply.  Unfortunately we don't have any software fixes for the lsm303d accelerometer failing.  Not in master and not in AC.3.2.1 I think.

  • Flew 6 full battery test flights this weekend and only one small problem.  I had to abort an autotune due to wind and landed in autotune rather than switched low to revert to previous PIDs.  The motors did not shut down and it flipped over, operator error.  After a successful calm morning autotune the aircraft flew very well with no glitches in any of the flights. I flew in Stab, Loiter, Alt hold, Drift.  No Auto, but did try Land and RTL multiple times.  Feels very stable and predictable, thanks for all the work you do. I just started this obsession in December and have had a great time.  I'm in the process of integrating UAV's and UGV's in my High School Mechatronics curriculum, it's been a steep learning curve.

  • I've been seeing a lot of long loops in the Log ANalyzer for this version. Think there are more than there were in the regular 3.2

    Here is the log of the Tmax.

    3701920263?profile=original

    Something strange... I switched from Poshold to stabilize and back to poshold just before takeoff. The rise in loop time starts as I am taking off.

    Then another Poshold appears, without having go to and come from some other mode. This by the way would probably be where the power surge happens on first take off, although I really didn't notice it this time (doesn't mean much that I didn't notice it, I was focused on something else).

    The MaxT number rises to 1.5 and back down to some small number where it sits calmly for the rest of the flight.

     

    • Developer

      David,

      It's possible although the PM message picks up the arming delay so it's best to throw away the next PM message after arming.

    • Hi Randy,

      Some good improvements on version 3.2. We have really seen the difference on larger heavier multi-rotors when being able to reduce the "Jerk" Settings.

      We are having the pitch drift problem as well. Turning on the Kalman Filter seemed to help but maybe was a coincidence as I was just flying a different vehicle today and the drift returned.

      This morning had odd heading drift when arming the motors (motors not running) switched back to 3.1.5 and the issue went away.

      Will try the newest Beta Version tomorrow

This reply was deleted.

Activity

DIY Robocars via Twitter
Sunday
DIY Robocars via Twitter
Saturday
DIY Robocars via Twitter
Saturday
DIY Robocars via Twitter
RT @f1tenth: Say hi to our newest #F1TENTH creation for @ieee_ras_icra next week in Philly. It’s going to be huge! 😎 🔥 @AutowareFdn @PennEn…
Saturday
DIY Robocars via Twitter
May 11
DIY Robocars via Twitter
May 8
DIY Robocars via Twitter
RT @SmallpixelCar: Noticed my car zigzagged in last run. It turned out to be the grass stuck in the wheel and made the odometry less accura…
May 8
DIY Robocars via Twitter
RT @SmallpixelCar: Test my car. RTK GPS worked great. Thanks @emlid for their support. https://t.co/EkQ6qmjmWR
May 8
DIY Drones via Twitter
RT @chr1sa: @kane That's @diydrones circa 2009. Still have a box of those Canon cameras that we used to strap into planes, just like this.…
May 3
DIY Robocars via Twitter
RT @chr1sa: Our next @diyrobocars race is going to be outside at a real RC racetrack in Fremont on May 28. Fully autonomous racing, head-to…
Apr 30
DIY Robocars via Twitter
RT @f1tenth: Our Spring 2022 F1TENTH course @PennEngineers is coming to an end with a head-to-head race as a big finale. So proud of our st…
Apr 26
DIY Robocars via Twitter
RT @DanielChiaJH: I wrote a thing! Throughout the development of my @diyrobocars car I've been using @foxglovedev Studio to visualize and d…
Apr 23
DIY Robocars via Twitter
RT @SmallpixelCar: My new car for high speed. Low body, everything ( @NVIDIAEmbedded Jetson Xavier NX, @emlid RTK GPS, IMC) under the deck…
Apr 23
DIY Robocars via Twitter
Apr 21
DIY Robocars via Twitter
RT @f1tenth: F1TENTH Race training setup @PennEngineers for our upcoming ICRA2022 @ieee_ras_icra competition. @OpenRoboticsOrg @IndyAChalle…
Apr 21
DIY Robocars via Twitter
RT @fatcatFABLAB: Proud to be hosting a restarted DIY Robocars NYC Meetup April 26. Come by if you want to talk about and race self-driving…
Apr 17
More…