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
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
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).
Notice your vibs level too, that affect your Baro, and your bad gps signal, if you lost Tx signal, your copter can't RTL and fly away
At a guess I would say you are using channel remapping (since you are using a D8) and that is the problem you are seeing. There is a huge problem here. If you look at the logs you will see the roll go hard over and stay there when you raise the throttle. The problem is because of the trim setting on the throttle - the firmware uses trim from RC3 for throttle rather than the mapped RC1 (and I think similarly for roll), but as far as I can see the mapping is architecturally broken. You could try manually setting the trim to the right values (i.e. with mapping), but I'm not sure I would risk it. This definitely got worse between 3.2 and 3.2.1. I have been experimenting with a fix that switches RC_Channels throughout the entire codebase and it certainly fixes this issue but is pretty pervasive and I am still having some issues with it - so I'm doubtful that even if I get it working that it would be accepted.
Yes. Are you using a PPM encoder then? You should do (nearly) exactly that. I am using an RX that outputs a PPM Sum signal and I cannot control the channel order.
Note that DX? output TAER and Pixhawk expects AETR so you should switch 1->3, 3->2, 2->1 as presuambly you have done in your channel remapping.
Also make sure you recalibrate your RC after.
I have found that if you calibrate the radio with the default channel order and the do the remap everything works normally. The bug has to do with the RC MIN/MAX/MID not following the remap. So you could just move those values you have back to where the default mapping is.
See your RC1_MID is 980 something so it thinks you want to roll Right.
This is being fixed in 3.3 to come out soon.
I posted this on the other related thread, but haven't heard back:
http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A1903...
I've done tests with 3.2.1 and 3.3 and find that the rc channels continue to register values above 1000 when I turn the radio off while the copter is running at half throttle. Has anybody else seen this issue? I am using the Spektrum AR8000 receiver connected to a satellite receiver and controlled by a DX7 transmitter if that matters. Here's a screen shot of the RC3 history when I have the radio turned off right after I increased the throttle at line 30x10^3. I turned the radio back on at about 53x10^3 and lowered the throttle to minimum.
rc-values-with-rc-turned-off.png
I tried this test out with 3.2.1 on my APM with a Spektrum AR5200 receiver and DX7 Transmitter. It responded correctly by setting rc3 to 900 when the R/C transmitter was turned off.
Has anybody with a Pixhawk seen the behavior described above where rc3 does not get set to 900 when the R/C is turned off? What mechanism is used to detect the state of the R/C transmitter?
Isn't this down to failsafe behaviour on the RX? I have Spk satellite, orange rx and lemon rx and they all have different failsafe behaviour when you lose the TX. I fixed the problem you describe on my orange by setting the failsafe values with the throttle set below zero (you can do this by playing around with the bias on the TX, there is a thread somewhere about this but don't have it to hand). Lemon and Satellite kill the entire signal, which I prefer.
Andy,
Thanks so much, that was the problem. I've never had to muck with this setting and didn't even know it existed. I guess I need to read the entire Spektrum manual to see what else I'm missing!
http://diydrones.com/profiles/blogs/spektrum-dx8-and-ar8000-failsaf...
http://johnleach.co.uk/words/1627/avoid-quadcopter-crashes-with-thr...
http://www.spektrumrc.com/prodinfo/files/dx7_manual.pdf (page 89) I had to increase the pitch to 150% since my pitch and throttle channels are swapped.
BTW, you don't know how to swap the Pitch and Throttle channels on the Spektrum as well? I ended buying the PPM encoder and swapping the wires around to get the correct mapping to avoid the R/C channel mapping bugs, but its still an itch Id like to scratch more.
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